Module 1 Lesson 1
Uploaded by
Elly GutierrezModule 1 Lesson 1
Uploaded by
Elly GutierrezMODULE I
INTRODUCTION
Lesson 1
Lesson 2
Lesson 3
MODULE I
INTRODUCTION OF THE CONCEPTS OF KINEMATICS MACHINERIES
INTRODUCTION
Kinematics of machines is usually defined as the study of the relative motions of
machine parts. The Kinematic scheme of a machine can be investigated without regard
to forces. This makes it possible to treat kinematics of machines as a separate subject.
The design of a machine may be divided into three steps:
1. Determination of the kinematic scheme
2. Determination of the forces
3. Proportioning of the parts
These three steps may not always be independent. When inertia forces are
considered the mass of the parts will contribute to the forces, and it might be
necessary to alter the kinematic scheme to reduce accelerations. It is usually
convenient, however to consider the first two steps separately and then apply
them in machine design, where the third step is considered.
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 designing a machine, or in studying the design of an existing machine, two
distinct but closely related divisions of the problem present themselves. First, the
mechanism parts must be so proportioned and so related to one another that each has
the proper motion. Second, each part must be adapted to withstand the forces imposed
upon it. The nature of movements does not depend upon the strength or absolute
dimensions of the moving parts.
LEARNING OUTCOMES
After studying the module, you should be able to:
1. explain the linkage and constraints of motion and machinery.
2. discuss the importance of vector operation in analytical and graphical
method.
3. give and explain the three elements of motions: displacement, velocity and
acceleration.
DIRECTIONS/ MODULE ORGANIZER
There are three lessons in the module. Read each lesson carefully then answer
the exercises/activities to find out how much you have benefited from it. Work on these
exercises carefully and submit your output to your tutor or to the Engineering office.
In case you encounter difficulty, discuss this with your tutor during the face-to-
face meeting. If not contact your tutor at the Engineering office.
Good luck and happy reading!!!
Lesson 1
Motion and Machinery:
Displacement, Velocity
and Acceleration,
Linkage and constraints
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.
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.
Machine
Machine is a combination of resistant bodies so arranged that by their means the
mechanical forces of nature can be compelled to produce some effect or work
accompanied with certain determinate motions.
Structure
Structure is a combination of resistant bodies capable of transmitting forces or
carrying loads but having no relative motion between parts.
Mechanism
Is 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 the combination.
The terms mechanism and machine are often used synonymously, but actually the
combination is a mechanism when used to transmit or modify motion and a machine if
energy is transferred or work is done.
Frame
Frame of a machine is a structure that supports the moving parts and regulates
the path, or kind of motion, of many of the parts. The frame may be either fixed to the
earth or moving relative to the earth, as for automobile.
Particle
Particle is an infinitesimal part of a body. It may be represented on a drawing by
a point and is often referred to as a point.
Rigid Body
Rigid body is one whose component particles remain at a constant distance from
one another; that is, the body is assumed not to suffer any distortion by the forces that
may act on it.
Driver and Follower
That piece of a mechanism which causes motion is called the driver, and the one
whose motion is effected is called the follower.
Linkage
Linkage consists of a number of pairs of elements connected by links.
Displacement
In reciprocating machinery, the distance between the two extreme positions of
the piston travel or the displacement of the piston is called the stroke.
Velocity
Velocity is a word often used synonymously with speed. This is incorrect, since
velocity includes direction and sense as well as speed.
Angular Velocity
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
Linear acceleration is the time rate of change of a linear velocity.
Angular Acceleration
Angular acceleration is the time rate of change of angular velocity.
Angular Speed
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. 1.1, or the shaft may be held stationary and the wheel turn on it as in Fig.
1.2. 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 (N rpm).
Figure 1.1 Figure 1.2
Linear Speed of a point on a Revolving Body
Consider a particle A on the circumference of the wheel in Fig. 1.1. For every
revolution of the wheel, A moves over the circumference of a circle of radius R a , so
that for N turns A moves a distance of 2 Ra N linear units. Let V a = linear speed of A.
V a = 2 Ra N Eq. 1