Types of Motion

When two curved members like say a

gear teeth or cam and follower transmit
motion, with direct contact, it could be any
of the following.

A) Pure rolling
B) Pure sliding
C) Combined rolling and sliding
 In the case of pure rolling no single point on one
of the members makes contact with two
successive points on the second member.

An example is rolling of a wheel on a rail

without slipping.

Pure Rolling
 In the case of pure sliding, a single point
belonging to one of the member made contact
with all the successive points of the second
member.

Pure Sliding
This motion occurs, when a wheel is
rotated about fixed axis (without translating)
against a horizontal rail.
 When both rolling and sliding occur
simultaneously, the motion is said to be
combined rolling and sliding.

Rolling of a wheel with slipping on a plane

or curved surface is a case of combined
rolling and sliding.

These notations can be illustrated best by

the following example.
 A case of pure Rolling between two
bodies in motion and in direct contact.
 A case of pure Sliding between two
bodies in motion and in direct contact.
 A case of combined Rolling and Sliding
between two bodies in motion and in direct
contact.
 Consider two rigid bodies and mounted on
fixed axes and respectively.

In figure body is driving , with an angular

velocity, say, .
is the coincident point, i.e. a point belonging
to the two bodies for the configuration shown.
 The velocity of point , in rigid body is
represented by vector .

And let the velocity of point , in rigid body

is represented by vector .
 Whatever may be the velocity of the point in rigid body ,
, one thing must be ensured that
the component of velocities of points and ,
that is and ,along the common normal to the
bodies and , at point ,
and , must be the same.
 Otherwise either digging of one surface on other,
or separation takes place.

Hence, velocity of point , perpendicular to the

radius is fixed, having its component along
the common normal equal to , which is the
component of , the velocity of along the
common normal.
 and represent the tangential or
sliding velocities of bodies and respectively as
shown.

Obviously, the difference between the tangential

components of velocities and
represents the rate of sliding between the bodies
and .
 In other words, the algebraic difference between
the two tangential components of velocities give
the rate of sliding = ~ .

If and are of opposite sign, the rate of

sliding is obtained by summing them.
 The angular velocity ratio can now be
determined as follows.
Magnitude of
velocity is
given by
=

=

=

And magnitude of is fixed by the condition
stated earlier.
 Drop perpendiculars and form the
centres of rotation and to the common
normal .

It is quite evident from the figure that

and and and
are two sets of similar triangles.






=






=

From the similar triangles and
shown in figure above

= =







=






=

From the similar triangles and
shown in figure above

= =




=
=






=

=
=

= =


Hence = =

 Also, the common normal intersects the line of
centers at point and the triangles and

are similar.













= =


Already proved that
=
=

Hence =


=

Therefore this equation states that the ratio of
angular velocities for a pair of rigid bodies
transmitting motion by direct contact is equal to
the inverse ratio of segments into which the line of
centers is divided by the common normal through
the point of contact.
 If the ratio of angular velocities is to
remain constant throughout the
operation, then it is necessary for the
common normal through the point of
contact to intersect the line of centers at
a fixed point.
As discussed earlier, when the
tangential components of velocities
and are equal, the type of
motion transmitted will be pure rolling.
 Such a condition is shown in fig below.

It is evident from the figure, that the

point of contact should lie on line of
centers, to satisfy the condition of pure
rolling.
 The condition of pure sliding is shown in
figure, where the common normal is
also the radius in the body .

That is the normal component of velocity

at this instant is zero.
 This necessitates the normal component
of to be also equal to zero, or velocity
must be equal to zero.
That is has no motion and hence the
body has pure sliding motion over the
body .
 Law of Gearing
If the ratio of angular velocities is to
remain constant throughout the
operation, then it is necessary for the
common normal through the point of
contact to intersect the line of centers at
a fixed point.
The above statement is known as Law
of Gearing.
 If instead of the two rigid bodies and , two
wheels with certain number of teeth whose pitch
circles are as shown in figure are used and the
tooth profiles chosen satisfy the condition stated
above, then the two wheels rotate continuously
with constant angular velocity.
 Strictly speaking, a number of tooth
forms will satisfy the above conditions.
For any arbitrary profile of gear, the
corresponding tooth profile of a mating
gear can always be found to satisfy the law
of gearing or law of gear tooth action.
Such profiles are called conjugate
profiles.
The most popular conjugate tooth
profiles used for gears are involute and
cycloid.