BIRLA INSTITUTE OF TECHNOLOGY AND SCIENCE, PILANI

ME/MF F244/MF C313: KINEMATICS & DYNAMICS OF MACHINES

SECOND SEMESTER 2013-2014
Assignment - 1 (Date: 11th Feb, 2014)
DOF, Graphical analysis of 4-bar mechanisms, Velocity and Acceleration diagrams, CAMs

Q1. Figure Q1 shows a mechanism that turns a light switch on when a room door is opened and off
when the door is closed. The pivot at O2 goes through the wall. There are two spring-loaded
piston-in-cylinder devices in the assembly. An arrangement of ropes and pulleys inside the
room (not shown) transfers the door swing into a rotation of link 2. Door opening rotates link 2
CW, pushing the switch up as shown in the figure, and door closing rotates link 2 CCW,
pulling the switch down. Indicating the number of links and types of pair, Find the mobility of
the linkage.

Fig Q1
Q2. In the mechanism shown in Fig Q2, the crank OA drives the sliders B and D in straight paths
through the connecting links AB and CD. The lengths of the links are OA = 150 mm, AB =
300 mm, AC = 100 mm, CD = 450 mm. The crank OA is rotating at 60 rpm clockwise and at
the instant has an angular retardation of 8 rad/s2. Determine the velocity of sliders B & D, and
angular velocity of link CD.

Fig Q2
Q3. Refer Fig Q2, determine the acceleration of sliders B & D, and angular acceleration of link CD.

Q4. A quick return mechanism has been shown in Fig Q4. The dimensions of the links are OP
(crank) = 240 mm, OA = 150 mm, AR = 165 mm and RS = 430 mm. The crank OP has an
angular velocity 2.5 rad/sec (CCW) and an angular deceleration of 25 rad/sec2 at the instant.
Determine the acceleration of slider S and angular acceleration of link AR & RS.

Fig Q4

Fig Q5

Q5. Four bar mechanism used in coupled wheel locomotion is shown in Fig Q5. The crank and
follower, O2A and O4B, are of equal length of 600 mm but of negligible mass. The coupler AB
is a rigid uniform circular rod of length 1000 mm. If the locomotive is running at constant speed
of 120 km/hr then find the linear acceleration (aG3) and angular acceleration (AB) of coupler
AB.
Q6. The FigQ6 shows the mechanism used in a two-cylinder 60 V-engine consisting, in part, of an
articulated connecting rod. Crank 2 rotates at 2000 rpm in the clockwise direction. Various
lengths of the links are EA = AC = 1 length unit, AB = BC = 3 units, and CD = 2.55 units.
Draw velocity and acceleration diagrams and determine the magnitudes of the velocities and
accelerations of slider B & D, angular velocity and angular acceleration of link CD.

Fig Q6

Q7. Draw the profile of a cam operating a roller reciprocating follower and with the following data:
Minimum radius of cam = 25 mm
Lift = 30 mm
Roller diameter = 15 mm
The cam lifts the follower for 120o with SHM followed by a dwell period of 30o. Then the
follower lowers down during 150o of the cam rotation with uniform acceleration and deceleration
followed by a dwell period.

Q8. Layout the profile of a cam so that the follower

is moved outwards through 30 mm during 180 of cam rotation with cycloidal motion
dwell for 20 of the cam rotation
returns with uniform velocity during remaining 160 of the cam rotation
The base circle diameter of the cam is 28 mm and the roller diameter is 8 mm. The axis of the
follower is offset by 6 mm to the left.

Answers:
Q1:
Q2:
Q3:
Q4:
Q5:
Q6:

1
0.92 m/s, 0.31 m/s, 2.07 rad/s
5.55 m/s2, 5.49 m/s2, 6.53 rad/s2
as = 0.033 m/s2, AR = 1.56 rad/s2 (CW), RS = 0.558 rad/s2 (CW)
aG3 = , AB = 0
VB = 213 units/s, VD = 190 units/s, aB = 14710 units/s2, aD = 24000 units/s2, 5 = 52.9 rad/s
(CW), 5 = 10300 rad/s2 (CW)