THEORY OF MACHINES (BME503) Module-2

MODULE – 2
Static force analysis: Static equilibrium, analysis of four bar mechanism, slider crank
mechanism.
Dynamic force analysis: D'Alembert's principle, analysis of four bar and slider crank
mechanism.
Flywheel: Introduction to Flywheel and calculation of its size for simple machines like
punching machine, shearing machine

Introduction: Static force analysis

STATIC EQUILIBRIUM
• A body is in static equilibrium if it remains in its state of rest or motion.
• If the body is at rest, it tends to remain at rest and if in motion, it tends to keep the
motion.
• In static equilibrium,
✓ the vector sum of all the forces acting on the body is zero and
✓ the vector sum of all the moments about any arbitrary point is zero.
• Mathematically,
A
D
✓ ∑𝐹 =𝟎
✓ ∑𝑇 = 𝟎
AD

• In a planer system, forces can be described by two-dimensional vectors and

therefore,
U
VT

EQUILIBRIUM OF TWO AND THREE-FORCE MEMBERS

A member under the action of two forces will be in equilibrium if
✓ the forces are of the same magnitude,
✓ the forces act along the same line, and
✓ the forces are in opposite directions.
• Figure shows such a member.

Fig. A member under the action of two forces

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 1

THEORY OF MACHINES (BME503) Module-2

A member under the action of three forces will be in equilibrium if

✓ the resultant of the forces is zero, and
✓ the lines of action of the forces intersect at a point (known as point of
concurrency).
• Figure (a) shows a member acted upon by three forces F 1, F2 and F3 and is in
equilibrium as the lines of action of forces intersect at one point O and the resultant is
zero.
• This is verified by adding the forces vectorially [Fig.(b)].

• A
Fig. A member under the action of three forces
Figure (d) shows a case where the magnitudes and directions of the forces are the
D
same as before, but the lines of action of the forces do not intersect at one point.
• Thus, the member is not in equilibrium.
AD

• Consider a member in equilibrium in which force F 1 is completely known, F2 known

in direction only and F3 completely unknown.
• The point of applications of F 1 , F2 and F3 are A, B and C respectively.
• To solve such a problem, first find the point of concurrency O from the two forces
U

with known directions, i.e. from F1, and F2.

VT

Fig. the member is not in equilibrium.

• Joining O with C gives the line of action of the third force F 3.
• To know the magnitudes of the forces F 2 and F3, take a vector of proper magnitude
and direction to represent the force F1.
• From its two ends, draw lines parallel to lines of action of the forces F 2 and F3
forming a force triangle [Fig. (c)].
• Mark arrowheads on F 2 and F3 so that F1 , F2 and F3 are in the same order.

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 2

THEORY OF MACHINES (BME503) Module-2

MEMBER WITH TWO FORCES AND A TORQUE

• A member under the action of two forces and an applied torque will be in
equilibrium if
✓ the forces are equal in magnitude, parallel in direction and opposite in
sense and
✓ the forces form a couple which is equal and opposite to the applied torque.

Fig. Member with Two Forces and a Torque

• Figure shows a member acted upon by two equal forces F 1, and F2 and an
applied torque T for equilibrium,

• where T, F1 and F2 are the magnitudes of T, F 1 and F2 respectively.

•
A
T is clockwise whereas the couple formed by F1, and F2 is counter-
clockwise.
D
AD

FORCE CONVENTION
• The force exerted by member i on member j is represented by Fij

FREE BODY DIAGRAMS

• A free body diagram is a sketch or diagram of a part isolated from the mechanism in
U

order to determine the nature of forces acting on it.

• Figure (a) shows a four-link mechanism.
VT

• A free body diagram is a sketch or diagram of a part isolated from the mechanism in
order to determine the nature of forces acting on it.
• Figure (a) shows a four-link mechanism.

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 3

THEORY OF MACHINES (BME503) Module-2

• The free-body diagrams of its members 2, 3 and 4 are shown in Figs. (b), (c) and (d)
respectively.
• Various forces acting on each member are also shown.
• As the mechanism is in static equilibrium, each of its members must be in
equilibrium individually.
• Member 4 is acted upon by three forces F, F 34 and F14.
• Member 3 is acted upon by two forces F 23 and F43
• Member 2 is acted upon by two forces F 32 and F12 and a torque T.
• Initially, the direction and the sense of some of the forces may not be known.
• Link 3 is a two-force member and for its equilibrium F 23 and F43 must act along BC.
• Thus, F34 being equal and opposite to F 43 also acts along BC.
• Assume that the force F on member 4 is known completely.
• To know the other two forces acting on this member completely, the direction of one
more force must be known.
• For member 4 to be in equilibrium, F 14 passes through the intersection of F and F 34
• By drawing a force triangle (F is completely known), magnitudes of F 14 and F34 can
be known [Fig.(e)].
• Now F34 = F43 = F23 = F32
• Member 2 will be in equilibrium if F 12 is equal, parallel and opposite to F 32 and

A
D
DRAW THE FREE BODY DIAGRAM OF A SLIDER CRANK MECHANISM
AD

SUBJECTED TO GAS PRESSURE P ON THE PISTON OF AREA OF CROSS

SECTION A.
U
VT

Follow the free body diagram step as discussed earlier section Four bar mechanism, except
Link 4
• Now F34 = F43 = F23 = F32
• Member 2 will be in equilibrium if F 12 is equal, parallel and opposite to F 32 and

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 4

THEORY OF MACHINES (BME503) Module-2

PRINCIPLE OF VIRTUAL WORK

• Another approach to force - analysis is based on the principle of virtual (imaginary)
work.
• This method is based on an energy balance of the system, which requires that the net
change in internal energy of a system during small displacement must be equal to the
difference between the work input to the system and the work output including the
work done against friction, if any.
• Therefore if a system which is in equilibrium under the action of different forces, is
given a small displacement from equilibrium, then the net change in the internal
energy will be equal to the work done on the system.
• In short the principle of virtual work can be stated as “the work done during virtual
displacement from the equilibrium is equal to zero”.

• Figure shows a slider crank mechanism.

A
D
• The mechanism is acted upon by external piston force P, external crank shaft torque
T , and the forces on the bearing.
AD
2
• If the crank turns through a small angular displacement ծƟ, then the corresponding
linear displacement of the piston is ծx.
• Thus the various work done performed by the mechanism are,
1) Bearing forces at B and C are equal and opposite and hence no work is done.
U

2) Bearing reaction at A produces no work.

VT

3) Force of cylinder on piston performs no work.

4) Work done by force P = P (ծx)
5) Work done by torque T2 = T2(ծƟ)

• By the principle of virtual work

𝑊 = 𝑇2 𝛿𝜃 + 𝑃𝛿𝑥 = 0
• work done is positive if the displacement is in the same direction of the applied force
and negative if the displacement is in the opposite direction of the applied force.
• As the interval of time ծt is same for the virtual displacement.
𝛿𝜃 𝛿𝑥
𝑇2 +𝑃 =0
𝛿𝑡 𝛿𝑡
𝑇2 𝜔2 + 𝑃 𝑣 = 0
𝑃𝑣
𝑇2 = −
𝜔2
• where 𝒗 is the linear velocity of the piston and 𝝎𝟐 is the angular velocity of the crank
• Negative sign indicates that the torque 𝑇2 must be applied in the opposite direction of
the angular displacement as shown in Fig. for the equilibrium.

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 5

THEORY OF MACHINES (BME503) Module-2

Example 1)
In the Figure a four bar mechanism is shown. Calculate the required value of T2 and various
forces on links for the equilibrium of the system. with the following dimensions , F=2000N,
AD = 215 mm, AB = 200 mm, BC = 370mm, DC = 350mm, CE = 100 mm.

For Solution: Refer Class Note Book

Step 1:
Draw the given figure to scale 50:1 (50 mm : 1cm)
AD = 215 mm = 4.3cm
AB = 200 mm = 4 cm
BC = 370 mm = 7.4cm A
D
DC = 350 mm = 7cm
AD

CE = 100 mm = 2cm
U
VT

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 6

THEORY OF MACHINES (BME503) Module-2

Example 2)
A four-link mechanism with the following dimensions is acted upon by a force 80N at angle
150° on link DC [Fig.]: AD = 50 mm, AB = 40 mm, BC = 100mm, DC = 75 mm, DE = 35
mm. Determine the input torque T on the link AB for the static equilibrium of the mechanism
for the given configuration.

For Solution: Refer Class Note Book

Example 3)
The slider crank mechanism is show n in Figure. The force applied to the piston is 1000N

A
when the crank is at 60° from IDC. Calculate the driving torque T2
D
AD
U
VT

For Solution: Refer Class Note Book

Step 1:
Draw the given figure to scale 40:1 (40 mm : 1cm)
AB = 100 mm = 2.5 cm
BC = 300 mm = 7.5 cm

Example 4)
Figure shows a slider crank mechanism in which the resultant gas pressure 8x104 N/m2 acts
on the piston of cross sectional area 0.1m2 The system is kept in equilibrium as a result of the
couple applied to the crank 2, through the shaft at O2. Determine forces acting on all the links
(including the pins) and the couple on 2. OA=100mm, AB=450mm

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 7

THEORY OF MACHINES (BME503) Module-2

For Solution: Refer Class Note Book

Force P = (gas pressure) * (piston of cross sectional area)
Force P = (8x104 N/m2) * (0.1m2)
Force P = 8x103 N

Example 5)
A slider crank mechanism with the following dimensions is acted upon by a force, F=2kN at
B as shown in Fig.Q1(b). Determine the input torque ‘T’ on the link OA for the static
equilibrium of the mechanism.

For Solution: Refer Class Note Book

Step 1:
Draw the given figure to scale 40:1 (40 mm : 1cm)
OA = 100 mm = 2.5cm
AB = 450 mm = 11.25 cm A
D
AD

Example 6)
In a four bar mechanism shown in Fig., torque T3, and T4 have magnitudes of 3000 Nm and
2000 Nm respectively. Take AD = 800 mm, AB = 300 mm BC=700 mm and CD = 400 mm.
For static equilibrium of mechanism, find the required input torque on the crank.
U
VT

For Solution: Refer Class Note Book

Step 1:
Draw the given figure to scale 100:1 (100 mm : 1cm)
AD = 800 mm, = 8 cm
AB = 300 mm = 3 cm
BC = 700 mm = 7 cm
CD = 400 mm = 4 cm

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 8

THEORY OF MACHINES (BME503) Module-2

Example 7)
In four bar chain mechanism shown in Fig., the torques T3 and T4 have magnitudes of 50 Nm
and 40 Nm respectively. For the static equilibrium of the mechanism, determine the required
input torque T2.

For Solution: Refer Class Note Book

Step 1:
Draw the given figure to scale 10:1 A
D
(10 mm : 1cm)
AB = 30 mm, = 3 cm
AD

BC = 74 mm = 7.4 cm
CD = 35 mm = 3.5 cm
AD = 70 mm = 7 cm
U

Example 8)
A four bar mechanism under the action of two external forces is shown in Fig. Determine the
VT

torque to be applied on the link AB for static equilibrium. The dimensions of the links are AB
= 50 mm, BC = 66 mm, CD = 55 mm, CE = 25 mm, CF = 30 mm, BAD = 60° and AD = 100
mm

For Solution: Refer Class Note Book

Solution: Step 1:
Draw the given figure to scale 10:1
(10 mm : 1cm)
AB = 50 mm, = 5 cm

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 9

THEORY OF MACHINES (BME503) Module-2

BC = 66 mm = 6.6 cm
CD = 55 mm = 5.5 cm
CE = 25 mm = 2.5 cm
CF = 30 mm = 3 cm
AD = 100 mm = 10 cm

Example 9)
Determine the various forces on the links and couple T2 shown in Figure.

For Solution: Refer Class Note Book

Solution: Step 1:
Draw the given figure to scale 100:1
(100 mm : 1cm)
AB = 300 mm, = 3 cm
A
D
BC = 600 mm = 6 cm
BD = 200mm = 2 cm
AD

Example 10)
Determine the various forces on the links and couple T2 shown in Figure.
U
VT

For Solution: Refer Class Note Book

Solution: Step 1:
Draw the given figure to scale 100:1
(100 mm : 1cm)
AB = 300 mm, = 3 cm
BC = 600 mm = 6 cm
BD = 200mm = 2 cm
AE = 200mm = 2 cm

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 10

THEORY OF MACHINES (BME503) Module-2

FLYWHEEL: Introduction to Flywheel and calculation of its size for simple machines like
punching machine, shearing machine
Introduction to Flywheel
• A flywheel used in machines serves as a reservior which stores energy during the
period when the supply of energy is more than the requirement and releases it during
the period when the requirement of energy is more than supply.
• In case of steam engines, internal combustion engines, reciprocating compressors
and pumps, the energy is developed during one stroke and the engine is to run for
the whole cycle on the energy produced during this one stroke.
• For example, in I.C. engines, the energy is developed only during power stroke
which is much more than the engine load, and no energy is being developed during
suction, compression and exhaust strokes in case of four stroke engines and during
compression in case of two stroke engines.

A
D
AD
U

• The excess energy developed during power stroke is absorbed by the flywheel and
releases it to the crankshaft during other strokes in which no energy is developed,
VT

thus rotating the crankshaft at a uniform speed.

• A little consideration will show that when the flywheel absorbs energy, its speed
increases and when it releases, the speed decreases. Hence a flywheel does not
maintain a constant speed, it simply reduces the fluctuation of speed.
• In machines where the operation is intermittent like punching machines, shearing
machines, riveting machines, crushers etc., the flywheel stores energy from the
power source during the greater portion of the operating cycle and gives it up during
a small period of the cycle.
• Thus the energy from the power source to the machines is supplied practically at a
constant rate throughout the operation.

• Note: The function of a governor in engine is entirely different from that of a

flywheel. It regulates the mean speed of an engine when there are variations in the
load, e.g. when the load on the engine increases, it becomes necessary to increase
the supply of working fluid.
• On the other hand, when the load decreases, less working fluid is required. The
governor automatically controls the supply of working fluid to the engine with the
varying load condition and keeps the mean speed within certain limits.

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 11

THEORY OF MACHINES (BME503) Module-2

• “A flywheel controls the speed variations caused by the fluctuation of the engine
turning moment during each cycle of operation. It does not control the speed
variations caused by the varying load.”

Definitions:

COEFFICIENT OF FLUCTUATION OF SPEED (𝑪𝒔 )

• The difference between the maximum and minimum speeds during a cycle is called
the maximum fluctuation of speed.
• The ratio of the maximum fluctuation of speed to the mean speed is called
coefficient of fluctuation of speed.
Let, N1 = Maximum speed in r.p.m. during the cycle,

N2 = Minimum speed in r.p.m. during the cycle, and

𝑵𝟏 +𝑵𝟐
N = Mean speed in r.p.m. = 𝟐

𝑵𝟏 − 𝑵𝟐
𝑪𝒔 = 𝑪𝒐𝒆𝒇𝒇𝒊𝒄𝒊𝒆𝒏𝒕 𝒐𝒇 𝒇𝒍𝒖𝒄𝒕𝒖𝒂𝒕𝒊𝒐𝒏 𝒐𝒇 𝒔𝒑𝒆𝒆𝒅, =
𝑵

A
D
AD
U
VT

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 12

THEORY OF MACHINES (BME503) Module-2

FLUCTUATION OF ENERGY

• The function of a governor in engine is entirely different from that of a flywheel. It

regulates the mean speed of an engine when there are variations in the load, e.g.

A
when the load on the engine increases, it becomes necessary to increase the supply
of working fluid.
D
• On the other hand, when the load decreases, less working fluid is required. The
governor automatically controls the supply of working fluid to the engine with the
AD

varying load condition and keeps the mean speed within certain limits
• The fluctuation of energy may be determined by the turning moment diagram for
one complete cycle of operation.
• Consider a turning moment diagram for a single cylinder double acting steam engine
U

as shown in Fig. The vertical ordinate represents the turning moment and the
horizontal ordinate (abscissa) represents the crank angle.
VT

Fig. Turning moment diagram for a single cylinder double acting steam engine.

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 13

THEORY OF MACHINES (BME503) Module-2

TEXT BOOKS
[1] Theory of Machines Kinematics and Dynamics Sadhu Singh Pearson Third edition
2019
[2] Mechanism and Machine Theory G. Ambekar PHI 2009

REFERENCE BOOKS
[1] Theory of Machines Rattan S.S Tata McGraw-Hill Publishing Company 2014
[2] Mechanisms and Machines- Kinematics, Dynamics and Synthesis, Michael M Stanisic
Cengage Learning 2016
NOTE: "The remaining part of the notes will be shared later."

A
D
AD
U
VT

DEPT. OF MECHANICAL ENGINEERING MITE, MOODABIDRI Page 14