Statics :- It is the branch of engineering which deals with study of forces and its effect on

bodies at rest.

Dynamics :- It is the branch of engineering which deals with the study of forces and its effect on
bodies in motion.

Kinetics :- It is the branch of dynamics which deals with study of forces and their effect on
bodies in motion considering mass of the body.

Kinematics :- It is the branch of dynamics which deals with the study of forces and their effect
on bodies in motion without considering mass.
a ] Kinematic link ( or element ) :
It is defined as a resistant body which has relative motion with some other element.
e.g. crank, Piston, cylinder, frame

b] Kinematic pair :
When two links are connected in such a manner that relative motion between them take place in
a definite way then it is called kinematic pair.

c] Kinematic chain :
When two or more kinematic pairs are joined together, they form kinematic chain.

d] Mechanism :
If one link of a kinematic chain is fixed it is called mechanism.

e] Inversion :
When different links of a kinematic chain are fixed we get different mechanisms, these
mechanisms are called inversions of that kinematic chain. The number of inversions of a
kinematic chain are equal to number of links in that chain.
Mechanism
Machine
1. A mechanism is formed when a link of kinematic chain is fixed.
A machine converts the available energy into some useful work.
[Link] function of mechanism is to transmit or modify motion.
[Link] are meant for doing some useful work.
3. A mechanism consists of several links joined together.
3. A machine may contain several mechanism and other elements.
[Link] cylinder mechanism, Scotch yoke mechanism.
4. Shaping machine, lathe machine,screw [Link]
Beam Engine
links -
Link 4 OC (frame)
Link 1 OA (Crank)
Link 2 AB (connecting Rod)
Link 3 BCD (lever)

Pairs -
Turning Pair = Frame OC & Crank OA
Turning Pair = Crank OA & Connecting
Rod AB
Turning Pair = Connecting Rod AB &
lever BCD
Turning Pair = Frame OC & lever BCD
 Beam Engine
Construction –
This mechanism is an inversion of four bar chain . It has four turning pair. It consists of frame OC which is
fixed and on which all other elements are fitted. The Crank is fixed at pt. 'O' at frame. The crank is free
rotates about pt.'O' . Other end of crank is connected to connectin rod AB. Other end of connecting rod AB
is linked to one end of lever. The lever is pivoted at pt 'C' other end of lever 'D' is attached to piston -
cylinder mechanism as shown.

Working –
As the crank starts rotating this motion is transmitted to lever by connection rod. As crank continues to
rotate the lever starts to oscillate about pt. 'C', this oscillatory motion is transmitted to piston & cylinder.

Application – The mechanism converts rotary motion to reciprocating motion. This is used in machine tools
& pumps. It is used for extracting oil from oil wells, the equipment is called Pump-jack.
Coupling rod of locomotive

Links -
link AD frame (Fixed)
link AB (Crank)
link BC (Coupling Rod)
link CD (Crank)
Pairs -
Turning Pair = AD (Frame) & AB (Crank)
Turning Pair = AD (Frame) & CD (Crank)
Turning Pair = AB (Crank) & BC (Connecting Rod)
Turning Pair = CD (Crank) & BC (Connecting
Rod)
 Coupling rod of locomotive
Construction:
This mechanism is an inversion four bar kinematic chain . This has four turning pairs.
It is consists of frame AD which is fixed, on which two cranks AC & BD are fitted on it .The cranks
are free to rotate about points A and D. Both the cranks have same lengths. Two cranks are
connected to each other by means of coupling rod, which connects the other ends B and C of
both cranks. At the connections B and C there is turning pair.
Working –
When link AB starts rotating about fixed point A. The rotary motion of wheel is transmitted to next
wheel by means of coupling rod BC. As a result the other wheel also starts rotating in same
direction and same speed, because both cranks have same radius of rotation.
Application –
The mechanism is used to connect driving & driven shaft of locomotive. Here both driving &
driven wheels always rotate in same direction.
Pantograph
Links
Link AB - End A is fixed
link BC
link DE
link DF

Pairs -
Turning Pair - AB & BC
Turning Pair – AB & DE
Turning Pair – BC & DF
Turning Pair – ED & DF
Construction –
This mechanism is an inversion of four bar chain . It has four turning pairs. One link is fixed to the
table. The stylus is attached to the junction of link DE and DF and the pen is attached to the end C of
the link BC. The lengths of all links are adjustable through the holes provided on the links.

Working –
As the operator traces the "Drawing" with the stylus, the same drawing is reproduced by the pen
either in enlarged or reduced scale depending upon the links lengths. The links have holes for the
adjustment of magnitude of enlargement or reduction.

Application – The mechanism is used for

1. Reducing large drawing.
[Link] in copy machining such as copying lathe using hydraulic [Link] in electric train
supply system on top of train, which supplies current to electric train from cables on top.
FIXED LINK Applications of inversion

Frame fixed Basic single slider

mechanism
Crank Fixed Gnome engine
Whit-worths Quick
return mechanism

Connecting rod Fixed Oscillating cylinder

mechanism
Crank and slotted lever
quick return mechanism

Slider fixed Pendulum pump

Bull engine or pendulum engine
Bull engine or pendulum engine
Links -
Crank
Cylinder
Piston & Piston Rod
Connecting Rod.
Pairs-
Turning – Piston & Piston Rod &
Connecting Rod
Turning – Connected Rod & Crank
Sliding – Piston - Piston Rod & Cylinder.
Turning – Crank & Cylinder.
Bull engine or pendulum engine
Construction –
This mechanism is an inversion of Single slider crank chain it is obtained by fixing the slider of the
basic chain .It has three turning pairs & one Sliding pair. As shown in figure the first link is piston
and piston rod, second is connecting rod which is extended beyond its connection to crank. the third
link is crank and fourth link is cylinder which is placed vertically and is fixed.
Working –
When the upward motion is given to connected Rod it causes downward motion of piston & vice
versa.

Application –
The mechanism is used in duplex pump in boilers, and also in manual hand pumps fitted on bore
well.
Oscillating Cylinder Engine
links -
Connecting rod (link 3) - Fixed
Crank (Link 2)
Piston and rod ( link 1)
Cylinder (link 4)
Pairs -
Turning – Crank and Connecting rod
Turning – Crank & piston rod
Sliding – Piston rod & Cylinder.
Turning – Cylinder and connecting
rod
 Oscillating Cylinder Engine

Construction –
This mechanism is an inversion of Single slider crank chain , which is obtained by
fixing connecting rod. It has three turning pairs & one Sliding pair. As shown in
figure. both rod & piston form one link . There is no relative motion between rod &
Piston . The cylinder is pivoted to frame, due to which whole cylinder is free to
oscillate about the frame.
Working –
When crank starts rotating, it causes the piston to reciprocate inside the cylinder.
A piston while reciprocating causes the cylinder oscillate about pt.'O' ,because
there is no relative motion between connecting rod and piston.
Application –
The mechanism is used where rotary transmitted into oscillating motion. It is used
in printing press m/c.
Rotary Engine
Rotary Engine
Links -
[Link] (fixed )
[Link]
[Link] Rod
[Link] & Frame

Pairs-
Crank & Connecting Rod – turning
Connected Rod & Frame – turning
Crank & Frame – turning
Piston & cylinder - Sliding
 Rotary Engine

Construction –
This mechanism is an inversion of Single slider crank chain, obtained by fixing the crank .
It has three turning pairs & one Sliding [Link] shown in diagram it has 5 or 7 cylinders and
connecting rods of all pistons are connected to one point which is another end of crank.
In this mechanism crank itself is fixed.
Working –
As pistons start reciprocating inside cylinders, whole frame starts rotating about fixed pt 'O'
the crank remains at its place.
The rotation of frame causes suction, comp,expansion & exhaust strokes in different
cylinders at same time.
Application –
It was used in airplane engines in past, now a days it is not used.
Crank and Slotted lever quick mechanism
Links -
[Link]
2. Crank
[Link]
[Link] Lever
Pairs-
Frame & Slotted lever – turning
Frame & Crank – turning
Crank & Slider – turning
Slider & Slotted lever - Sliding
Construction –
This mechanism is inversion of Single slider crank chain, which is obtained by fixing connecting rod of basic [Link] has
three turning pair & one Sliding pair.
Crank is fitted to frame at pt.'A' & slotted lever is fitted to frame at pt.'B'. The crank & slotted lever are connected to each
other through slider. The slider is free to slide in side slotted lever. The upper end of slotted lever is attached to the ram of
shaping machine through a linkage {The ram and lever connecting to ram are not part of the basic inversion}
Working –
As the crank starts rotating about pt.'A', it also transmits motion to slider. As the slider is fitted inside the slotted lever, the
slotted lever starts oscillating about pt.'B’.
Whitworth’s quick return Mechanism
Links: Crank BC
Slotted lever EAD
Slider
Frame AB (FIXED)
{Link Es is not part of basic mechanism}
Pairs: Crank BC and frame AB : Turning Pair
Slotted lever EAD and frame AB : Turning Pair
Crank Bc and slider : Turning Pair
Slider and Slotted lever EAD : Sliding pair
Construction : This mechanism is an inversion of single slider crank chain, obtained by fixing the crank of
the connecting rod. It has three turning pairs and one sliding pair.
It has crank BC turning about point B. Other end of crank carries a slider, connected with turning pair. The
slide fits inside the slotted lever EAD. The slider is free to slide inside the slotted lever. The lever is pivoted
at point A. The lever rotates about the point A. End E of this lever is connected to the Ram of the shaper
machine.
Working: As the crank starts rotating about the point B. It transmits the motion to the Lever EAD through
the slider . As a result the lever EAD starts rotating about the point A. As shown in figure the forward stroke
of the ram is slower and return stroke is faster ( Angle theta is greater than angle beta). Hence this
mechanism is called quick return mechanism.
Application : This mechanism is used in Shaping machine.
Scotch yoke mechanism
Links:
[Link] link
[Link]
[Link]
[Link] (fixed )

Pairs -
[Link] & Crank – turning
[Link] & Slider – turning
[Link] & Slider – Sliding
[Link] & Yoke - Sliding
Construction –
This mechanism is inversion of Single slider Crank Chain .It has two turning pair & two Sliding pair.
As shown in fig. The crank is fitted to frame at pt ‘B' .A slider is attach to other end of crank at pt ‘A'.
The slider fits inside Yoke. A Yoke is free to slide inside frame.

Working
As the crank starts rotating about pt.’B' it causes the slider to slide inside Yoke. As the crank changes it's
position it pulls or pushes the Yoke . Thus Rotary motion of crank is converted into Reciprocating motion
of Yoke.
Application –
This mechanism is used to convert Rotary motion into reciprocating motion.
Oldham’s Coupling
Links: Frame (fixed) :1
Shaft & Flange on left hand :2
Shaft & Flange on right hand :4
Intermediate piece : 3

Pairs: Frame & Shaft LH – turning pair

Frame & Shaft RH – turning pair
Flange LH & Intermediate piece – Sliding pair
Flange RH & Intermediate piece - Sliding pair

Construction : This mechanism is inversion of Double slider Crank Chain .It has two turning & two Sliding pair.
Two flanges with respective shafts are free to rotates with respect to frame both flanges have rectangular slots . An intermediate
piece has two rectangular projections on both sides, both projections are perpendicular to each other , each projection fits inside
the slot of flange.

Working: When one shaft is given rotary motion,it is transmitted to another shaft the intermediate piece. The intermediate piece
slides & adjusts itself, to keep both shafts runnings. The centre of the intermediate piece traces the path of a circle with radius
equal to offset between shafts.

Application : This coupling is used to connect two shaft having some eccentricity (offset).
An Oldham’s coupling is used for connecting two parallel shafts whose axes are at a small
distance apart. The shafts are coupled in such a way that if one shaft rotates, the other
shaft also rotates at the same speed. This inversion is obtained by fixing the link 2, the
shafts to be connected have two flanges (link 1 and link 3) rigidly fastened at their ends by
forging.
Elliptical Trammel
Links:
1. Slider 1
2. Bar AB
3. Slider 2
4. Slotted plate ( Frame)

Pairs:
1. Slider 1 & Frame – Sliding
2. Slider 2 & Frame – Sliding
3. Slider 1 & link AB – turning
4. Slider 2 & link AB - turning
Construction : This mechanism is an inversion of Double slider crank Chain .It has two sliding & two
turning pairs. As shown in figure it has rectangular frame with vertical and horizontal slots. Two sliders are
free to slide inside both slots. A link AB connects two sliders.

Working: When one of the slider is given reciprocating motion it is transmitted to another slider through the
link AB . It is observed that while the two sliders slide into respective slots the pt.'P' traces the path of an
ellipse. The major axis and minor axis of the ellipse can be changed by changing the point which traces the
path of an ellipse.

Application : This mechanism is used for drawing ellipse of required size..