MECH 343 Theory of

Machines I

Time: _ _ W _ _17:45 - 20:15

Lecture 2
Contents of today's lecture
• Mobility

• Grashof’s condition

• Position, Velocity and Acceleration of a Point

• Linear and Angular Velocities and Accelerations

• Line of Transmission

• Angular-Velocity Ratio

• Sliding and Rolling Contacts

• Different types of Linkages

Mobility
 Mobility
• Grubler mobility criterion is for joints with only 1DOF
and constrained motion with overall mobility as 1

• If m =1 and J2 = 0 in Kutzbach it is Grubler

 Mobility
• For a spatial mechanism with 6 DOF links
 Grashof’s Law
• If a mechanism is driven by a motor, it is
important to ensure full rotation of the crank
• The Grashof's law or condition states that
"For a four-bar mechanism, the sum of the
shortest and longest link lengths should not be
greater than the sum of two remaining link
lengths".
• For a four-bar linkage, the Grashof Condition
is satisfied if S+L ≤ P+Q where S is the
shortest link, L is the longest, and P and Q are
the other links. When the Grashof condition is
satisfied, at least one link will be completely
rotatable.
• If this condition is not satisfied, no link can
make a continuous rotation
 Grashof’s Law
• Reuleaux looks at the same thing
differently but with the same result

• Where l need not be the longest link - then

 Grashof’s Law
• Grashof’s law does not restrict the
fixed link or the order of links
• If S is adjacent to the fixed link
(fig a and b) crank-rocker
mechanism
• S is the fixed link you get double
crank and shorter will be mostly
input (fig c)
• If fixed link is opposite to S,
double rocker. S can rotate, but l
and q can rock
 Grashof’s Law
• The Grashof's law does not specify the order of links or
which link is fixed.
Grashoff Law - Example

6” Grashoff law
S + L <= P + Q
3 + 6= 9 = 4 + 5
5” Is Satisfied
4”
Since S is fixed, both P and Q can
do full rotation so it is a double
3”
crank (drag link) mechanism
 Linear Displacement/Velocity
• Motion of a rigid body can be defined with
motion of its points
• Path of a point is locus of its successive
positions. Here the distance is scalar and
displacement is vector.
• If a point P moves from B to C along MN,
its linear displacement is
• Magnitude is
• And its direction wrt x axis is

• If displacementis reduced at an instant approaches the tangent to path at B

• Average velocity of the distanc e if covered in time will be
• Instantaneous linear velocity of point at position B will be
a the direction tangent to the path at B
 Angular Displacement/Velocity
• If point P moves to P’about fixed axis O, the
angular displacement of line OP is
occurring in a time
• Angular velocity becomes

• Instantaneous angular velocity of the body for position OP

• Radius R=OP, V is the velocity of point tangential to path PP’┴ to R

• Arc length PP’= R where is in radians and magnitude of velocity of P at

position P is

• Which will give

 Angular Displacement/Velocity
• If in , is in radians
(dimensionless)/min and R in feet,
then V is in feet/min

• is usually mentioned in RPM and

denoted as n, revolution is 2п radians
then and

• Since the radii of rotation of all points in a rotating body have same angular
velocity the magnitude of velocity is directly proportional to their Radii

• From the figure, it can be seen that

 Linear and Angular Acceleration
• Linear acceleration is the rate of change of linear velocity.
• If a point is moving in a line (rectilinear motion) velocity change is in
magnitude only. If initial velocity is V0 and increases to V in time interval

• instantaneous acceleration is

• If the acceleration is constantA then

 Linear and Angular Acceleration
• If the velocity is constant the distance moved similarly is s=Vt.

• If a point moves with variable velocity, displacement is a product of

average velocity and time. So in uniform acceleration,

• Substituting final velocity V from before, we get

• Substituting time t from before, we get

• Similarly for angular acceleration , by substituting A with ; S with

; V, V0 with , 0, we get

• Angular displacement, velocity and acceleration can

be either CW or CCW. In the textbook

CCW is +ve and CW is –ve and

 Methods of Motion Transmission
• In all these, link 2 is driver and link 4 is the follower

• Certain angular movement of 2 gives a definite

angular movement to 4

1. Rigid bar link P2P4 is the line of transmission

2. Flexible link P2P4 is the line of transmission

3. Contact link, usually cam and follower where the

shape and outlines of 2 and 4 determine the
transmission Line of transmission is the common
normal, which is perpendicular to the tangent at
point of contact
 Angular Velocity Ratio
• P2 and P4 contacts in an instant
• Tangent and normal at that instant is shown
• Radii of rotation is O2P2 and O4P4

• Vector P2E is perpendicular to

O2P2 and provides the velocity of
P2. P2S and P2L are the
components along normal and
tangent
• Vector P4F is perpendicular to
O4P4 and provides the velocity of • Components of velocities along the normal
P4. P4S and P4M are the for P2E and P4F should be equal
components along normal and
tangent • Knowing P2E we can complete P4F by
drawing FS perpendicular to the normal
 Angular Velocity Ratio
• Angular velocities of the links 2 and 4 are

• And the angular velocity ratio is then

• Drawing O2G and O4H ┴ to normal

▲O2GP2 similar to ▲P2SE and
▲O4HP4 similar to ▲P4SF
• hence
• Dividing these two will give

• Since P2S = P4S

 Angular Velocity Ratio
• Dividing these two will give

• Since P2S = P4S

• Left hand side is
as seen before
• So

• Further ▲O2GQ similar to ▲O4HQ so

• Substituting this in previous equation gives

 Angular Velocity Ratio
• The same principle applies for these two
figures where the 2 and 4 have identical
velocities along line of transmission P2P4

• In these type of linkages, the ratio of

angular velocities between driver and
follower is inversely as the lengths of the
┴s from the center of rotation to line of
transmission or inversely as the segments
into which the line of transmission divides
the centers
• In the usual form of belt drive, O2G and
O4H are R1 and R2 so
 Constant Angular Velocity Ratio
• If the  ratio have to
remain constant the
distance from the line
of transmission should
intersect the center at
a fixed point
• One such example is shown above.

• In a four bar linkage this possible, if 2

and 4 are of same length and coupler
3 should be equal to O2O4 ( ratio
should be 1)
• Gear drives have constant angular
velocity ratio
 Sliding Contact
• P2 and P4 contacts in an instant
• Tangent and normal at that instant is shown
• Radii of rotation is O2P2 and O4P4

• Vector P2E is perpendicular to

O2P2 and provides the velocity of
P2. P2S and P2L are the
components along normal and
tangent
• Vector P4F is perpendicular to
O4P4 and provides the velocity of • Components of velocities along the normal
P4. P4S and P4M are the for P2E and P4F should be equal
components along normal and
tangent • Knowing P2E we can complete P4F by
drawing FS perpendicular to the normal
 Sliding Contact
• Though Components of velocities
along the normal for P2E and P4F
are equal (represented as P2S and
P4S), the components of velocities
along the tangent are different
(represented as P2L and P4M) and
bodies 2 and 4 have relative
motion along this direction
• The difference in their velocities
in tangential direction is the
sliding velocity Vs

• Body 2 slides on 4 and is moving from M to L along the tangent and its
magnitude represented as ML
 Rolling Contact
• In direct contact, rolling exists only if there is no sliding
• So components of velocities along the tangent for P2E and P4F
should be equal in both direction and magnitude (represented
as P2L and P4M) so bodies will not slide
• If the direction has to be same, the radii O2P2 and O4P4 should
be on the same line, so on the center line
• Angular velocity ratio is inversely as the radii
• If the tangential velocities are not
identical there can still be sliding as
shown in figure 2-23
• For rolling, linear velocities at point of
contact should be same and point of
contact happens at the line of center
 Positive Drive
• Positive drive in direct contact if driver forces
the follower to move.
• The movement of 2 CCW will force 4 to move
CW If the movement of 2 is away from 4, then it
does not force 4 to move. In figure 2-24 is
positive drive if the motion is towards the
follower
• In 2-25, normal is along the center of rotation so
for movement CW and CCW for short distance
does not force the follower to move. Same if 4
moves CCW there would be no motion. Called
dead center
• In 2-26, where 2 and 4 are circular one
does not force the other. So no positive drive
but it is called friction drive
• Positive drive in direct contact happens only if common normal through the
point does not pass of either or both centers of rotation
 Different types of Linkages
• Four Bar Linkage – common where 1 is frame 2 and 4
are cranks and 3 is the coupler. Many mechanisms can
be replaced by four bar links for its combination to
analyze their motions
• Parallel Crank four bar linkage – when 2 and 4 have
same length and 3 is same as 1. So 2 and 4 have same
angular velocity. However, it becomes unconstrained
link at 2 positions where link 4 is in line with 3
providing dead points. The follower can go anyway.
This does not happen due to inertia, gravity etc.
• Nonparallel equal Crank linkage – same as before but
cranks are not parallel and rotate in opposite
directions.And the angular velocity ratio is not
constant
 Different types of Linkages
• Crank and Rocker – for rotation
of 2 about O2, 4 rocks
• Converts rotation to oscillation
• Grashof’s law should be satisfied
• If 2 drives, continuous operation
• If 4 drives, aid it required to
carry the mechanism beyond
dead points B’ and B”
• Drag Link (double crank) – shorter link is
fixed. So both cranks 2 and 4 rotates
• Grashof’s law should be satisfied
 Different types of Linkages
• Slider Crank Mechanism – special case
of four bar linkage. If crank 4 is infinite
in length and C moves rectilinear and is
replaced with a slider.
• Two dead center positions at slider
extremes. Flywheels on crankshaft
provide inertia to carry beyond this
position.
• Eccentric Mechanism – centers of 2 and
4 are off positioned. And crank 2 is a
circular disk with center at B pivoted at
O2
 Different types of Linkages
• Straight Line Mechanisms
• Watts Mechanism – P traces figure 8 however
considerable portion falls on a straight lines
BP/PC=CD/AB
• Scott Russell Mechanism – exact straight line of
P. And crank 2 is a circular disk with center at B
pivoted at O2
• A variation is to replace the slider with a crank
 Different types of Linkages
• Straight Line Mechanisms
• Roberts Mechanism – approximate straight lines
along AB. AC=CP=PD=DB and CD=AP=PB.
Ratio of height to width proportional to accuracy
• Tchebysheff’s Mechanism – approximate straight
line of P along CB. AB=CD=1.25AD=2CB
 Different types of Linkages

• Straight Line Mechanisms

• Peaucellier’s Mechanism – exact
straight line if
• AB=AE, BC=BD, & PC=PD=CE=DE
 Different types of Linkages

• Parallel Mechanisms – to reduce or

enlarge motions between F and D
• Used guide cutting tools
 Different types of Linkages
• Oldham Coupling – connecting shafts with
parallel misalignment
• The coupling transmits a constant velocity
ratio
 Different types of Linkages
• Toggle Mechanisms – large force on short
distance when angle between BCO2 reduces
the force is

• Applications in riveting machines, punch

press and rock crusher (kinematic diagram
given)
 Different types of Linkages
• Elliptical Trammel
 Different types of Linkages
Universal Joints – connecting intersecting shafts common one
is Hooke or Cardan Joint
 Different types of Linkages
• Universal Joints – connecting
intersecting shafts common one
is Hooke or Cardan Joint
• Kinematic diagram in a
• Shaft 3 rotates point D moves
about in circle with radius R
shown in d
• Same for B in if shaft 2 rotates
in its plane (shown in c)
• B moves to B’for rotation of 2
• Projecting it on the other plane
it is an ellipse DBE instead of
circle rotating 3 in shaft 3
 Different types of Linkages
• From c we can get

• From b we can get

• In fig d, B’G=B’F in fig c

•  assuming to be constant and

differentiating wrt time
 Different types of Linkages
•  assuming to be constant and
differentiating wrt time

• Angular variation/time is
angular velocity , then the
ratio is

• Eliminating 2 with
 Different types of Linkages

• For a constant velocity 3

differentiate the equation wrt
time
• 2

• Constant speed of one shaft can

cause huge variations on the
other speed at higher angles 
 Different types of Linkages
• Here 2 joinjts are used to
compensate for speed variations
produced
• And angular velocity 2/4 is unity
for which 1=2