Dynamics of Machines
Dynamic Force Analysis
Instructor: Prof. S.K. Dwivedy
Dynamic Force Analysis
When the inertia forces are considered in the analysis of the mechanism, the
analysis is known as dynamic force analysis.
Now applying D’Alembert principle one may reduce a dynamic system into an
equivalent static system and use the techniques used in static force analysis to
study the system.
Fi ma
a
m
A translating body
A compound pendulum Inertia force and couple on
compound pendulum
Equivalent off-set Inertia force
Illustration of Equal in magnitude The equivalent
equivalent off-set and opposite in A compound
offset inertia
inertia force direction pendulum
force
Dynamic force analysis of four bar mechanism
Let us study the four-bar mechanism where m2 , m3 and m4 are mass of link 2,3 and 4 respectively.
We have to find the torque required at link 2 for dynamic equilibrium when an external force F4 acts
on link 4 as shown in figure 3. Now for dynamic force analysis the following steps may be followed.
F4
T
External force
Draw the acceleration diagram or use any analytical method to determine acceleration
Determine angular acceleration of link 2,3 and 4.
Determine linear acceleration of center of mass ( a gi i 2, 3, 4 ) of link 2 3 and 4 .
The magnitude of inertia force of link i (i 2,3 or 4) can be determined by multiplying mass
of link i with the corresponding acceleration of the center of mass.
The direction of the inertia force is opposite to the direction of the acceleration.
Determine the magnitude of inertia couple which is equal to I i i
The direction of the inertia couple is opposite to that of angular acceleration.
Replace the inertia force and couple by the equivalent offset inertia force for each link.
Treat these offset inertia force as external force and follow the procedure for static force
analysis.
One may use either super-position principle or principle of virtual work to find the required
torque for equilibrium.
Fgi mi agi
Dynamic Force Analysis of a Four bar Mechanism
using Matrix Method
The Free-body diagrams of (a) Link 2(crank/input link) (b) Link 3(coupler) (c) Link 4(follower link)
Fgi mi agi (1)
Tgi I i gi (2)
the transpose of
A=
Klein’s Construction
C • Draw OC such that angle BOC = 90
A • OAC represents the velocity diagram of
the slider crank mechanism rotated by 90
deg.
B
O
X
• Draw Circle with AC as radius and
C
A as center
A • Draw another circle with AB as
D diameter
• XY is the line joining the
B intersection of these two circles
O E • OADE is the acceleration diagram
Y
OC r sin( )
OD cos
L r
Equivalent System
Summery
In this chapter the following concepts are learned
Inertia forces and couples
Offset inertia force
Dynamically equivalent system
Determination of radius of gyration of crankshaft by
method of oscillation
Piston effort, crank effort
Dynamic force analysis of mechanisms using
graphical method, vector method and virtual work
principle