DYNAMICS

OF
MACHINE LAB

Class: B.Tech. 6th Semester

(Mechanical Engineering)

Mechanical Engineering Department

YMCA UNIVERSITY OF SCIENCE AND TECHNOLOGY

FARIDABAD

Sr.

Experiments

Page

no.

no.
To perform experiments on Watt and porter governors to

1.

1-5

prepare performance characteristics curves, and to find stability

and sensitivity.
To

2.

perform

performance

experiment

on

proell

governor

to

prepare

6-9

characteristics curve and to find stability and

sensitivity
To perform experiment on Hartnell governor to prepare
3.

10-13

performance characteristics curve and to find stability and

sensitivity.

4.

To study Rope bake dynamometers

14-15

5.

To determine gyroscopic couple on motorized gyroscope.

16-21

6.

To perform the experiment for static balancing on static

22-23

balancing machine.
7

To perform the experiment for dynamic balancing on dynamic

24-27

balancing machine.
Determine the moment of inertia of connected rod by compound
8

pendulum method tri-flair suspension pendulum.

28-30

Experiment no.1
Objective:
To perform experiments on Watt and porter governors to prepare performance
characteristics curves, and to find stability and sensitivity.

Apparatus:
The apparatus is designed to exhibit the characteristics of the spring-loaded governor and
dead weight governor. The apparatus consists of a main spindle driven by a variable
speed D.C. Motor with variable speed control unit. The motor is connected through 'V'
belt to drive shaft. Motor and main shaft are mounted on a rigid M.S. Base plate in
vertical fashion. The spindle is supported in ball bearings.
The optional governor mechanism can be mounted on spindle. Speed control unit
can control the spindle speed. And counter hole over the spindle shaft allows the use of
a hand tachometer to determine the speed. A graduated scale is fixed to the sleeve and
guided in vertical direction, which measures the sleeve displacement.

Experimental Procedure:
The governor mechanism under test is fitted with the chosen rotating weigr~... and spring,
where applicable and inserted into the drive unit. The following simple procedure may
then be follows:
Connect the motor to speed control unit using four way cable provided.
The control unit is switched ON and the speed control slowly rotated, increasing. the
governor speed unit the centre sleeve rises off the lower stop and aligns with the first
division on the graduated scale.
The sleeve position and speed are then recorded. Speed may' be determined using a hand
tachometer on the spindle. The governor speed is then increased in steps to give suitable
sleeve movements, and readings repeated at each stage through out the range of sleeve
movement possible.

Watt Governor

Porter governor

Data Sheet
Length of each link, L, mm

. = 125

Initial height of governor, ho, mm

= 94

Initial radius of rotation, Ro, mm

= 136

Weight of each ball, W, kg

= 0.6

Sr.

Sleeve

No displacement
X

Height

Speed
,N

h = ho-X/2

(rpm)'

(mm)

cos = h/L

Radius of rotation, r
r = 50 + L Sin
(cm)

(mm)

Results & Discussions:

(a) Graph to be plot:
(a) Fill up the data sheet.
(b) Note down sleeve displacement 'X' at various speeds 'N'.
(c) Find the radius of rotation 'r' at any position.
(d) The result may be plotted as curves of speed (on y axis) against sleeve
displacement (on x axis).
(e) Plot the graph of force (on y axis) v/s radius of rotation (on x axis).
(f) Further tests are carried out changing the value of variable at a time to draw
curves.
(b) Calculations:
For Watt and Porter Governor
Radius of rotation 'r' can be calculated as follows:
Find height h = (ho - x/2)
Find ' ' by using cos = h/L
Then, r = 50 + L Sin
Force can be calculated as follows:

(a) Find the angular velocity of the arm and ball about the spindle axis.
2N
=
rad / sec
60
Where N is the speed of the spindle

Force
F(kg)

(b) Find the centrifugal force acting on the ball

W
Force, F = 2 r0 in Kg
g
Where g is the acceleration due to gravity. g = 9.81 m/sec2

Precautions:
(a) Do not keep the mains "ON' when trial is complete.
(b) Increase the speed gradually.

(c) Take the sleeve displacement reading when the pointer remains steady.
(d) See that at higher speed the load on sleeve does not hit the upper sleeve of the
governor.
(e) While closing the test bring the dimmer to zero position and then switch "OFF"
the motor.

Experiment no.2
Objective:
To perform experiment on proell governor to prepare performance characteristics curve
and to find stability and sensitivity

Apparatus:
The apparatus is designed to exhibit the characteristics of the spring-loaded governor and
dead weight governor. The apparatus consists of a main spindle driven by a variable
speed D.C. Motor with variable speed control unit. The motor is connected through 'V'
belt to drive shaft. Motor and main shaft are mounted on a rigid M.S. Base plate in
vertical fashion. The spindle is supported in ball bearings.
The optional governor mechanism can be mounted on spindle. Speed control unit
can control the spindle speed. And counter hole over the spindle shaft allows the use of
a hand tachometer to determine the speed. A graduated scale is fixed to the sleeve and
guided in vertical direction, which measures the sleeve displacement.

Experimental Procedure:
The governor mechanism under test is fitted with the chosen rotating weigr~... and spring,
where applicable and inserted into the drive unit. The following simple procedure may
then be follows:
Connect the motor to speed control unit using four way cable provided.
The control unit is switched ON and the speed control slowly rotated, increasing. the
governor speed unit the centre sleeve rises off the lower stop and aligns with the first
division on the graduated scale.
The sleeve position and speed are then recorded. Speed may' be determined using a hand
tachometer on the spindle. The governor speed is then increased in steps to give suitable
sleeve movements, and readings repeated at each stage through out the range of sleeve
movement possible.

Data Sheet
In the Proell Governor, with the use of flyweight (Forming full ball) the governor
becomes highly sensitive. Under this conditions large sleeve displacement is observed for
very small change in speed. In order to make it stable, it is necessary to carry out the
experiments by using half ball flyweight on each side.
Length of each link, L, mm

= 125

Initial height of governor, ho, mm

=94

Initial radius of rotation, ro, mm

=141.5

Weight of each ball, W, kg

= 0.6

Weight of sleeve, kg

= 0.6

Extension of Length BG, mm

= 75

Sr.

Sleeve

No

displacement
,X

Speed
,N
(rpm)

Height

cos

= h/L

Radius of rotation, r

h = ho-X/2

r = 50 + L Sin

(mm)

Force
F(kg)

(cm)

(mm)

Results & Discussions:

Graph to be plot:
(g) Fill up the data sheet.
(h) Note down sleeve displacement 'X' at various speeds 'N'.
(i) Find the radius of rotation 'r' at any position.
(j) The result may be plotted as curves of speed (on y axis) against sleeve
displacement (on x axis).
(k) Plot the graph of force (on y axis) v/s radius of rotation (on x axis).
(l) Further tests are carried out changing the value of variable at a time to draw
curves.

Precautions:
(f) Do not keep the mains "ON' when trial is complete.
(g) Increase the speed gradually.

(h) Take the sleeve displacement reading when the pointer remains steady.
(i) See that at higher speed the load on sleeve does not hit the upper sleeve of the
governor.
(j) While closing the test bring the dimmer to zero position and then switch "OFF"
the motor.

Experiment no. 3

Objective:
To perform experiment on Hartnell governor to prepare performance characteristics curve
and to find stability and sensitivity

Apparatus:
The apparatus is designed to exhibit the characteristics of the spring-loaded governor and
dead weight governor. The apparatus consists of a main spindle driven by a variable
speed D.C. Motor with variable speed control unit. The motor is connected through 'V'
belt to drive shaft. Motor and main shaft are mounted on a rigid M.S. Base plate in
vertical fashion. The spindle is supported in ball bearings.
The optional governor mechanism can be mounted on spindle. Speed control unit
can control the spindle speed. And counter hole over the spindle shaft allows the use of
a hand tachometer to determine the speed. A graduated scale is fixed to the sleeve and
guided in vertical direction, which measures the sleeve displacement.

Experimental Procedure:
The governor mechanism under test is fitted with the chosen rotating weigr~... and spring,
where applicable and inserted into the drive unit. The following simple procedure may
then be follows:
Connect the motor to speed control unit using four way cable provided.
The control unit is switched ON and the speed control slowly rotated, increasing. the
governor speed unit the centre sleeve rises off the lower stop and aligns with the first
division on the graduated scale.
The sleeve position and speed are then recorded. Speed may' be determined using a hand
tachometer on the spindle. The governor speed is then increased in steps to give suitable
sleeve movements, and readings repeated at each stage through out the range of sleeve
movement possible.

Data Sheet
Arrangement is shown in figure
a.

Length, a, mm

b.

Length, b, mm

= 122

c.

Initial radius of rotation, r0, mm

= 177.5

d.

Weight of each ball, W, kg

= 0.6

e.

Weight of sleeve, kg

= 0.6

f..

Free height of spring, mm

= 102

g.

Spring stiffness (P)

= 10 & 5 kg/cm.

Sr. No.

. = 77

Sleeve displacement X

Speed, N

(mm)

(rpm)

Radius of rotation, r
= ro + X a/b
(cm)

Force, F
(kg)

Results & Discussions:

Graph to be plot:
(m) Fill up the data sheet.
(n) Note down sleeve displacement 'X' at various speeds 'N'.
(o) Find the radius of rotation 'r' at any position.
(p) The result may be plotted as curves of speed (on y axis) against sleeve
displacement (on x axis).
(q) Plot the graph of force (on y axis) v/s radius of rotation (on x axis).
(r) Further tests are carried out changing the value of variable at a time to draw
curves.
Radius of rotation 'r' can be calculated as follows:
X (a )
r = r0 +
(b)
Where a and b are the length and X is the sleeve displacement

Precautions:
(k) Do not keep the mains "ON' when trial is complete.
(l) Increase the speed gradually.

(m) Take the sleeve displacement reading when the pointer remains steady.
(n) See that at higher speed the load on sleeve does not hit the upper sleeve of the
governor.
(o) While closing the test bring the dimmer to zero position and then switch "OFF"
the motor.

Experiment no. 4
Objective:
To study rope bake dynamometers

Introduction & Theory

The rope brake dynamometer consists' of one or more ropes wound around flywheel or
rim of the pulley, fixed rigidly to the shaft of the prime mover. The end of the

ropes is attached to spring balance while the lower end is kept in position by applying a
dead weight. In order to prevent the slipping of the ropes over the flywheel, wooden
blocks are placed at intervals around the circumference of the flywheel. During
operation of the brake, the prime mover is made to run at a constant speed. The
frictional torque due to the ropes must be equal to the torque being transmitted by the
prime mover.

Let

W = dead load on the rope

S = spring balance reading

D = diameter of the pulley

d = diameter of the rope

N = speed of the pulley

Work done per minute = (W-S) (D +d) N

Brake power, BP =

(W S ) (D + d )N KW
60 X 1000

Result:
Model of rope brake dynamometer have been visualized and studied.

Experiment no. 5
Objective:
To determine gyroscopic couple on motorized gyroscope

Theory:
Let a disc of weight Wand having a moment of inertia I be spinning with an angular
velocity ill about axis OX in an anti clockwise direction viewing from front. Therefore,
the angular momentum of disc is lill. Applying right hand screw rule, the sense of vector
representing the angular momentum of disc which is also a vector quantity will be in the
direction OX as shown. A couple, whose axis is OY perpendicular to OX and is in the
plane XOZ, is now applied to precess the axis OX.

Let axis OX turn through a small angular displacement 88 about axis OZ and in
the plane XOY, from OX to OX' in time 8t. The couple applied produces a change in the
direction of angular velocity, the magnitude remaining constant. This change is due to the
velocity of precession. Therefore, 'OX' represents the angular momentum after time 8t.
Change of angular momentum = OX' - OX = XX'
Rate of change of angular momentum= Angular Displacement/Time
=

XX '
t

But rate of change of angular momentum = Couple applied, C

Where, XX ' = OXx in direction of XX

= (I )
C = I
and in the limit, t is very small

C = I
where d /dt=

P, the

d
dt

angular velocity of precession of yoke, which is uniform and is about

axis OZ.
Thus, we get

C = I P
The direction of the couple applied on the body is clockwise when looking in me
direction XX' and in the limit this is perpendicular to the axis of

and

Apparatus

Schematic arrangement of the gyroscope is shown in Fig. 1. The motorized gyroscope

consists of a disc rotor mounted on a horizontal shaft rotates about XX axis in two ball
bearings of one frame. This frame can swing about YY axis in bearings provided in the
yoke type frame No.2. The rotor shaft is coupled to a motor mounted on a trunion frame
having bearings in a yoke frame, which is free to rotate about vertical axis ZZ. Thus
freedom of rotation about three perpendicular axis is given to the rotor (or the disc can be
rotated about three perpendicular axis). Angular scale and pointer fitted to frame helps to
measure precession rate. In steady position, frame No.1 is balanced by providing a weight
pan on the opposite side of the motor.

Experimental Work

Rule No 1
"The spinning body exerts a torque or couple in such a direction which tends to make the
axis of spin coincide with that of the precession"
To study the rule of gyroscopic behavior following procedure may be adopted
Step1: Balance the initial horizontal position of the rotor.

Step 2: Start the motor by increasing the voltage with the autotransformer, and wait until
it attains constant speed.
Step 3: Precess the yoke frame No.2 about veliical axis by applying necessary force by
hand to the same (in the clockwise sense seen from above).
Step 4: It will be observed that the rotor frame swings about the horizontal axis YY.
Motor side is seen coming upward and the weight pan side going downward.
Step 5: Rotate the vertical yoke axis in the anti clockwise direction seen from above and
observe that the rotor frame swing in opposite sense (ns compared to that in previous case
following the above rule).

Rule No.2:
Step I: Balance the rotor position on the horizontal frame.
Step2: Start the motor by increasing the voltage with the autotransformer and wait till the
disc attains constant speed. Note down the speed.
Step3: Put weight (0.5 kg, 1 kg, or 2 kg) in the weight pan, and start the stop watch to
note the time in seconds required for precession, through 60 or 45 etc.
Step4: The vertical yoke precesses about OZ axis as per the rule No.2.
Step 5: Speed may be varied by the autotransformer provided on the control panel.
Data Sheet:

Weight of Rotor, kg:

Rotor Diameter, mm:
Rotor Thickness, mm
Moment of inertia of the disc,
coupling and motor rotor about central axis, I, kg cm sec2 :
Distance of bolt of weight pan: from disc centre, L, cm

S. No.

Weight, W

Time required for

Speed, N

(kg)

precession, dt (sec)

(rpm)

Angle of precession,
d
( degree)

Results & Discussions:

1. Fill up the data sheet.

2. Calculate the gyroscopic couple by the equation C = I P for different sets of
readings for different weight and different speed.
3. Compare the gyroscopic Couple calculated and observed.

Precautions

1.

is to be calculated for short duration of time, as the balance of rotation of disc

about the horizontal axis YY due to application of torque, because of which P goes
on reducing gradually.
2. A void using the tachometer while taking the reading of time as it will reduce the time
taken for precession.
3. Autotransformer should be varied gradually.
P

APPENDIX-1: Critical data of experiment

Weight of Rotor, kg: 6.7
Rotor Diameter, mm: 300
Rotor Thickness, mm: 10.5
Moment of inertia of the disc, coupling and motor rotor about central axis, I, kg cm sec2
2
W D 2 6.7 (30 )
=
=

= 0.768
g
8
981
8
Distance of bolt of weight pan: from disc centre, L, cm :17.6

Motor: Fractional HP. single phase. 6000 rpm AC/DC Type

Autotransformer provided for speed regulation.

APPENDIX-2: Sample Experimental data

Weight of Rotor, kg: 6.7
Rotor Diameter, mm: 300
Rotor Thickness, mm: 10.5
Moment of inertia of the disc, coupling and
motor rotor about central axis, I, kg cm sec2 : : 0.768
Distance of bolt of weight pan: from disc centre, L, cm: 17.6
S. No.

Weight, W
(kg)

Time required for

precession, dt (see)

Speed, N
(rpm)

1.

0.5

14

1730

APPENDIX-3: Data Analysis

Angular velocity of disc in rad/sec
2N 2 1730
=
=
= 181.17 rad / sec
60
60
Angular velocity of precession of yoke

in rad/sec

d
P =
dt
where d is in radian = 45

P =

180

= 0.785rad

0.785
= 0.0561rad / sec
14

Experimental justification of the equation:

C = I P = 0.768 181.17 0.0561 = 7.81kg.cm
C actual = W L = 0.5 17.6 = 8.8 KgCm

Angle of precession
( degree)
45

Experiment no.6

Objective:

To perform the experiment for static balancing on static balancing machine

Apparatus:

The apparatus basically consists of a steel shaft mounted in ball bearings in a stiff
rectangular main frame. A set of four blocks of different weights is provided and may be
clamped in any position on the shaft, and also be easily detached from the shaft.
A disc carrying a circular protractor scale is fitted to one side of the rectangular frame.
Shaft carries a disc and rim of this disc is grooved to take a light cord provided -Nith two
cylindrical metal containers of exactly the same weight.

A scale is fitted to the lower member of the main frame and when used in conjunction
with the circular protractor scale, allows the exact longitudinal and angular position of
each adjustable block to be determined.

The shaft is driven by a 230 volts single phase 50 cycles electric motor, mounted under
the main frame, through a belt.
For static balancing of individual weights the main frame is suspended to the supported
frame by chains and in this position the motor driving belt is removed.
For dynamic balancing of the rotating mass system the main frame is suspended from the
support frame by two short links such that the main frame and the supporting frame are in
the same plane.
Experimental Procedure:

Remove the drive belt. The value of Wr. For each block is determined by clamping each
block in turn on the shaft and with the cord and container system suspended over the
protractor disc, the number of steel balls, which are of equal weight, are placed into one
of the containers to exactly balance the blocks on the shaft. When the block becomes
horizontal, the number of balls 'N' will give the value of Wr. for the block.
For finding out 'Wr' during static balancing proceed as follows:
1. Remove the belt.
2. Screw the combined hook to the pulley with groove. (This pulley is different than
the belt pulley). .
3. Attach the cord-ends of the pans to the above combined hook.
4. Attach the block No.1 to the shaft at any convenient position and in vertical
downward direction.
5. Put steel balls in one of the pans till the block starts moving up. (Up to horizontal
position).
6. Number of balls gives the 'Wr' value of block 1. Repeat this for 2-3 times and find
the average no. of balls.
7. Repeat the procedure for other blocks.
Precautions:

1. Do not run the motor for more time in unbalanced positions.

2. Place the weights/balls gently in the pan. While placing the balls the pan should
be hold gently and check that it should not jump its position.
3. Weight setting gauge should be check gently.

Experiment no.7
Objective:

To perform the experiment for dynamic balancing on dynamic balancing machine

Apparatus:

The apparatus basically consists of a steel shaft mounted in ball bearings in a stiff
rectangular main frame. A set of four blocks of different weights is provided and may be
clamped in any position on the shaft, and also be easily detached from the shaft.
A disc carrying a circular protractor scale is fitted to one side of the rectangular frame.
Shaft carries a disc and rim of this disc is grooved to take a light cord provided -Nith two
cylindrical metal containers of exactly the same weight. A scale is fitted to the lower
member of the main frame and when used in conjunction with the circular protractor
scale, allows the exact longitudinal and angular position of each adjustable block to be
determined.

The shaft is driven by a 230 volts single phase 50 cycles electric motor, mounted under
the main frame, through a belt.
For static balancing of individual weights the main frame is suspended to the supported
frame by chains and in this position the motor driving belt is removed.
For dynamic balancing of the rotating mass system the main frame is suspended from the
support frame by two short links such that the main frame and the supporting frame are in
the same plane.

Experimental Procedure:

It is necessary to leave the machine before the experiment. Using the values of Wr.
obtained as above, and if the angular positions and planes of rotation of three of four
blocks are known, the student can calculate the position of the other block(s) for
balancing of the complete system. From the calculations, the student finally clamps all the
blocks on the shaft in their appropriate positions. Replace the motor belt, transfer the
main frame to its hanging position and then by running the motor, one can verify that
these calculations are correct and the blocks are perfectly balanced.

For dynamic balancing of 4 blocks

Obtain Dynamic Balance of a set of four blocks with unbalance as shown, by properly
positioning them in angular and lateral position on the shaft.

Block

Unbalance (Wr Product)

NO.
1.

74

2.

71

3.

70

4.

76

Distance between each block is 3 cm. The arrangement is as shown in Fig.

(Plane 4 and 1 are unbalance planes and 3 and 2 are balancing planes)
First of all assume that reference plane is 3. Then find out the couples for blocks 4, 1 & 2
with respect to 3 and then draw couple polygon.
Plane

Wr.

Dist. From No.-3

Couple

70

76

228

74

444

71

639

Let us assume block no. 4 is in horizontal position. And also consider block No.1 is
at 36 to block NO.4. Now draw the couple polygon as shown

An angular position of block no. 2 is obtained from the couple polygon with respect to
block no 4.
Now draw the force polygon

Angular position of block NO.3 is obtained from the force polygon and its magnitude is
also obtained F3 = 70. Adjust all angular and lateral position properly and find the shaft
rotates without vibrations.

Precautions:

4. Do not run the motor for more time in unbalanced positions.

5. Place the weights/balls gently in the pan. While placing the balls the pan should
be hold gently and check that it should not jump its position.
6. Weight setting gauge should be check gently.

Experiment no.8
Objective:

To determine experimentally the mass moment of inertia by the help of trifilar suspension
apparatus

Introduction:

Many a time in engineering practice, the problem of finding out the mass moment of
inertia of a regular or irregular body arises. For this and allied problems, sometimes the
mathematical computation is tedious. Such problems can be solved by the method of
bifilar/ trifilar suspension.

Experimental Set Up:

The experimental set up consists of M.S. Channel frame at the bottom side and three
M.S. Pipes in vertical position. At top an angle frame is fitted. Three drill chucks are
fitted on each arm of this angle frame. String can be fixed in these chucks at the top and a
disc is fixed at the bottoms. The length of string can be easily varied. Two weights are
provided for experiment.

Theory:

The setup consists of a disc having a weight W is suspended by three long parallel
flexible cord of length' I'. The three strings being placed symmetrically about the center
of gravity G at a radius 'r' and disposed at 1200 to each other. When the
disc is twisted through a small angle 8 about a vertical axis through the center of gravity
G, it will vibrate with simple harmonic motion in a horizontal plane.
Let
W = Weight of the body
k = Radius of gyration
I = Mass moment of Inertia of the body about a vertical axis through G
=

W 2
k
g

l = length of each string

r = the distances of each wire from the axis of the disc

By measuring the frequency n actually we can find out radius of Gyration k and then
mass moment of inertia IG. Radius of gyration k can be found by

r
2n

g
l

Experimental Procedure

1. Fix all three strings (rope) to disc and drill chucks. Keep equal length of each cord.
2. Place weight centrally on disc (i.e. disc or ring weight).
3. Ensure that length of each cord is same.
4. Now apply equal and opposite torque to disc by hand and measure time required for 10
oscillations.
5. Repeat the same procedure for different lengths of cords and weights.
6. Take at least three readings for each set to minimize error.

Data Sheet

Weight of the Disc, W, kg

I.D. of Ring, cm

O.D. of Ring, cm

Weight of Ring, kg Length of cord, l, cm=

r, cm

S. No.

=
No. of
Oscillation,
N
(osc)

Time required, t
( sec)

Frequency n Radius of
gyration, k
=tlN
(cm2)
osc/sec

Mass
moment
of inertia
I,
kgcm.sec2

Precautions:

1. Apply carefully equal and opposite torque.

2. Length of the each cord should be same.
3. Place weight exactly at center of disc.
4. Keep the amplitude of torsional vibrations small and not more than about 5. 5. The
moment of inertia of the platform should be small as compared to the moment of
inertia of the mechanical part.
5. Ensure that there are no kinks in the wires.
6. Ensure that the vibrations are constrained in the horizontal plane.
7. The electric fan etc. situated near the trifilar suspension should be switched off and
ensure that guests of wind coming from a window opening in the room do not disturb
the experimental set up.