Kinematics of Machinery Course Code: MEL 404 Lab Manual

New Horizon Institute of Technology and Management, Thane

Affiliated to University of Mumbai

Program: Mechanical Engineering

Course: Kinematics of Machinery

Lab Manual

Course Code: MEL 404

Academic Year: 2019-20

This document contains information that is proprietary and confidential to NHITM, which shall not be disclosed to any
external entity that is not involved in the project and shall not be transmitted, or duplicated, used in whole or in part for any
purpose other than its intended purpose. Any use/copy or disclosure in whole or in part of this information without express
written of permission of NHITM is strictly prohibited.

© New Horizon Institute of Technology and Management www.nhitm.ac.in 1|

Kinematics of Machinery Course Code: MEL 404 Lab Manual
Program Outcomes (POs)

1. Engineering knowledge: Apply the knowledge of mathematics, science, engineering fundamentals,

and an engineering specialization to the solution of complex engineering problems.

2. Problem Analysis: Identify, formulate, review research literature, and analyze complex engineering
problems reaching substantiated conclusions using first principles of mathematics, natural sciences,
and engineering sciences.

3. Design/Development of Solutions: Design solutions for complex engineering problems and design
system components or processes that meet the specified needs with appropriate consideration for the
public health and safety, and the cultural, societal, and environmental considerations.

4. Conduct Investigations of Complex Problems: Use research-based knowledge and research methods
including design of experiments, analysis and interpretation of data, and synthesis of the information
to provide valid conclusions.

5. Modern Tool Usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modeling to complex engineering activities
with an understanding of the limitations.

6. The Engineer and Society: Apply reasoning informed by the contextual knowledge to assess societal,
health, safety, legal and cultural issues and the consequent responsibilities relevant to the professional
engineering practice.

7. Environment and Sustainability: Understand the impact of the professional engineering solutions in
societal and environmental contexts, and demonstrate the knowledge of, and need for sustainable
development.

8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities and norms
of the engineering practice.

9. Individual and Team work: Function effectively as an individual, and as a member or leader
in diverse teams, and in multidisciplinary settings.

10. Communication: Communicate effectively on complex engineering activities with the

engineering community and with society at large, such as, being able to comprehend and write
effective reports and design documentation, make effective presentations, and give and receive clear
instructions.

11. Project Management and Finance: Demonstrate knowledge and understanding of the engineering
and management principles and apply these to one’s own work, as a member and leader in a team, to
manage projects and in multidisciplinary environments.

12. Life-long Learning: Recognize the need for, and have the preparation and ability to engage
in independent and life-long learning in the broadest context of technological change.

© New Horizon Institute of Technology and Management www.nhitm.ac.in 2|

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Course Outcome

CO Course Outcome Cognitive Level Hours

(Remember, Planned
At the end of the course student will be able
Understand,
to:
Apply, Create,
Analyze, Evaluate)
MEL404.1 Draw velocity diagram by instantaneous center Apply 2
method
MEL404.2 Draw velocity and acceleration diagrams for four Apply 4
bar mechanism by relative method.
MEL404.3 Draw velocity and acceleration diagrams for Apply 4
slider crank mechanism by relative method.
MEL404.4 Draw cam profile for the specific follower Apply 2
motion.
MEL404.5 Plot displacement-time, velocity-time, and Apply 2
acceleration-time graphs for cams.
MEL404.6 Develop and build mechanisms to provide Apply 6
specific motion.
20
Total Hours Planned

© New Horizon Institute of Technology and Management www.nhitm.ac.in 3|

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Experiment List
Hours
Sr
Experiment Name Planned Mapped CO:PO
No
1 Analysis of velocity of mechanisms by Instantaneous Center 2 MEL404.1:PO 1,2
of Rotation
2 Analysis of velocity of mechanism by Relative method 4 MEL404.2: PO 1,2
3 Analysis of velocity & Acceleration of mechanism by 4 MEL404.3: PO 1,2
Relative method
4 Motion analysis and plotting of displacement-time, velocity- 4 MEL404.4: PO 1,2
time, acceleration- time, jerk-time and Layout of cam
MEL404.5: PO 1,2
profiles.
5 Design and fabrication of any one mechanism 6 MEL404.6: PO 1,2,3

© New Horizon Institute of Technology and Management www.nhitm.ac.in 4|

 Kinematics of Machinery Course Code: MEL 404 Lab Manual

IEN: - Batch: -
Name of the Student: - Div.: -
Date of Performance: -
Course Outcome: - MEL404.1: Draw velocity diagram by instantaneous center method

EXPERIMENT NO.: - 01

Title:

Aim: - Analysis of velocity of mechanisms by Instantaneous Center of Rotation

System Software/ Instruments/ Equipment’s Requirements: -

Theory/ Working Principle:

Theory:
The motion of link AB is so gradual that it is difficult to see the two separate motions. But we see the
two separate motions, though the point B moves faster than the point A. Thus, this combined motion of
rotation and translation of the link AB may be assumed to be a motion of pure rotation about some centre I,
known as the instantaneous centre of rotation (also called centro or virtual centre). The position of
instantaneous centre may be located as discussed below:

© New Horizon Institute of Technology and Management www.nhitm.ac.in 5|

 Kinematics of Machinery Course Code: MEL 404 Lab Manual

magnitude and direction and vB in direction only, then the magnitude of vB may be
determined by the instantaneous centre method as discussed below:

Draw AI and BI perpendiculars to the directions vA and vB respectively. Let these lines
intersect at I, which is known as instantaneous centre or virtual centre of the link. The
complete rigid link is to rotate or turn about the centre I.

Since A and B are the points on a rigid link, therefore there cannot be any relative motion
between them along the line AB.

© New Horizon Institute of Technology and Management www.nhitm.ac.in 6|

Kinematics of Machinery Course Code: MEL 404 Lab Manual

© New Horizon Institute of Technology and Management www.nhitm.ac.in 7|

Kinematics of Machinery Course Code: MEL 404 Lab Manual
Number of Instantaneous Centres in a Mechanism: -

The number of instantaneous centres in a constrained kinematic chain is equal to the number
of possible combinations of two links. The number of pairs of links or the number of
instantaneous centres is the number of combinations of n links taken two at a time.
Mathematically, number of instantaneous centres,

© New Horizon Institute of Technology and Management www.nhitm.ac.in 8|

Kinematics of Machinery Course Code: MEL 404 Lab Manual

© New Horizon Institute of Technology and Management www.nhitm.ac.in 9|

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Working Principle:

© New Horizon Institute of Technology and Management www.nhitm.ac.in 10 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

© New Horizon Institute of Technology and Management www.nhitm.ac.in 11 |

 Kinematics of Machinery Course Code: MEL 404 Lab Manual

Layout/ Exp. Diagram/ Circuit Dia./ Any Fig. Applicable

Observation Table/ Expt. Reading/ Any other Notable Data

Example 1. In a pin jointed four bar mechanism, as shown in Fig. 6.9, AB = 300 mm, BC =
CD = 360 mm, and AD = 600 mm. The angle BAD = 60°. The crank AB rotates uniformly at
100 r.p.m. Locate all the instantaneous centres and find the angular velocity of the link BC.

Example 2. Locate all the instantaneous centres of the slider crank mechanism as shown in
Fig. The lengths of crank OB and connecting rod AB are 100 mm and 400 mm respectively. If
the crank rotates clockwise with an angular velocity of 10 rad/s, find: 1. Velocity of the slider
A, and 2. Angular velocity of the connecting rod AB.

© New Horizon Institute of Technology and Management www.nhitm.ac.in 12 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual
Example 3. A mechanism, as shown in Fig., has the following dimensions:
OA = 200 mm; AB = 1.5 m; BC = 600 mm; CD = 500 mm and BE = 400 mm. Locate all the
instantaneous centres. If crank OA rotates uniformly at 120 r.p.m. clockwise, find 1. the
velocity of B, C and D, 2. the angular velocity of the links AB, BC and CD.

Calculations:

Result:

Conclusion: -

Experiment Rubric:

Signature of
Evaluation Criteria Marks
Instructor with Date

© New Horizon Institute of Technology and Management www.nhitm.ac.in 13 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual
Lab Performance
Topic Knowledge
Task Conclusion
Attainment Level (Out of 3)

IEN: - Batch: -
Name of the Student: - Div.: -
Date of Performance: -
© New Horizon Institute of Technology and Management www.nhitm.ac.in 14 |
 Kinematics of Machinery Course Code: MEL 404 Lab Manual
Course Outcome: - MEL404.2: Draw velocity and acceleration diagrams for four bar mechanism by
relative method.

EXPERIMENT NO.: - 02

Title:

Aim: - Analysis of velocity of mechanism by Relative method

System Software/ Instruments/ Equipment’s Requirements: -

Theory/ Working Principle:

Theory:
Relative Velocity of Two Bodies Moving in Straight Lines
Here we shall discuss the application of vectors for the relative velocity of two bodies moving
along parallel lines and inclined lines, as shown in Fig. (a) and (a) respectively. Consider two
bodies A and B moving along parallel lines in the same direction with absolute velocities vA
and vB such that vA>vB , as shown in Fig. (a). The relative velocity of A with respect to B

© New Horizon Institute of Technology and Management www.nhitm.ac.in 15 |

 Kinematics of Machinery Course Code: MEL 404 Lab Manual

Now consider the body B moving in an inclined direction as shown in Fig. (a). The
relative velocity of A with respect to B may be obtained by the law of parallelogram of
velocities or triangle law of velocities. Take any fixed-point o and draw vector oa to represent
vA in magnitude and direction to some suitable scale. Similarly, draw vector ob to represent
vB in magnitude and direction to the same scale. Then vector ba represents the relative
velocity of A with respect to B as shown in Fig.(b). In the similar way as discussed above, the
relative velocity of A with respect toB

© New Horizon Institute of Technology and Management www.nhitm.ac.in 16 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

© New Horizon Institute of Technology and Management www.nhitm.ac.in 17 |

 Kinematics of Machinery Course Code: MEL 404 Lab Manual
Working Principle:

Notes: 1. The vector ab which represents the velocity of B with respect to A (vBA) is known as velocity of
image of the link AB.
2. The absolute velocity of any point C on AB may be determined by dividing vector ab at c in the
same ratio as C divides AB in Fig. (a). In other words,

Join oc. The *vector oc represents the absolute velocity of point C (vC) and the vector ac represents the
velocity of C with respect to A i.e. vCA.

3. The absolute velocity of any other point D outside AB, as shown in Fig.(a), may also be obtained
by completing the velocity triangle abd and similar to triangle ABD, as shown in Fig.(b).

4. The angular velocity of the link AB may be found by dividing the relative velocity of B with
respect to A (i.e. vBA) to the length of the link AB. Mathematically, angular velocity of the link AB,

© New Horizon Institute of Technology and Management www.nhitm.ac.in 18 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Layout/ Exp. Diagram/ Circuit Dia./ Any Fig. Applicable

© New Horizon Institute of Technology and Management www.nhitm.ac.in 19 |
 Kinematics of Machinery Course Code: MEL 404 Lab Manual

Observation Table/ Expt. Reading/ Any other Notable Data

Example 1. In a pin jointed four bar mechanism, as shown in Fig. 6.9, AB = 300 mm, BC =
CD = 360 mm, and AD = 600 mm. The angle BAD = 60°. The crank AB rotates uniformly at
100 r.p.m. Locate all the instantaneous centres and find the angular velocity of the link BC.

Example 2. Locate all the instantaneous centres of the slider crank mechanism as shown in
Fig. The lengths of crank OB and connecting rod AB are 100 mm and 400 mm respectively. If
the crank rotates clockwise with an angular velocity of 10 rad/s, find: 1. Velocity of the slider
A, and 2. Angular velocity of the connecting rod AB.

Example 3. A mechanism, as shown in Fig., has the following dimensions:

OA = 200 mm; AB = 1.5 m; BC = 600 mm; CD = 500 mm and BE = 400 mm. Locate all the
instantaneous centres. If crank OA rotates uniformly at 120 r.p.m. clockwise, find 1. the
velocity of B, C and D, 2. the angular velocity of the links AB, BC and CD.

Calculations:
© New Horizon Institute of Technology and Management www.nhitm.ac.in 20 |
Kinematics of Machinery Course Code: MEL 404 Lab Manual

Result:

Conclusion: -

Experiment Rubric:

Signature of
Evaluation Criteria Marks
Instructor with Date
Lab Performance
Topic Knowledge
Task Conclusion
Attainment Level (Out of 3)

IEN: - Batch: -
Name of the Student: - Div.: -
© New Horizon Institute of Technology and Management www.nhitm.ac.in 21 |
 Kinematics of Machinery Course Code: MEL 404 Lab Manual
Date of Performance: -
Course Outcome: - MEL404.3: Draw velocity and acceleration diagrams for slider crank
mechanism by relative method.

EXPERIMENT NO.: - 03

Title:

Aim: - Analysis of Velocity & Acceleration of mechanism by Relative method

System Software/ Instruments/ Equipment’s Requirements: -

Theory/ Working Principle:

Theory:
Acceleration Diagram for a Link- Consider two points A and B on a rigid link as shown in
Fig.(a). Let the point B moves with respect to A, with an angular velocity of ω rad/s and let α
rad/s2 be the angular acceleration of the link AB.

© New Horizon Institute of Technology and Management www.nhitm.ac.in 22 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Acceleration of a Point on a Link

© New Horizon Institute of Technology and Management www.nhitm.ac.in 23 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

© New Horizon Institute of Technology and Management www.nhitm.ac.in 24 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

© New Horizon Institute of Technology and Management www.nhitm.ac.in 25 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Layout/ Exp. Diagram/ Circuit Dia./ Any Fig. Applicable

Observation Table/ Expt. Reading/ Any other Notable Data

Example 1. In a pin jointed four bar mechanism, as shown in Fig. 6.9, AB = 300 mm, BC =
CD = 360 mm, and AD = 600 mm. The angle BAD = 60°. The crank AB rotates uniformly at
100 r.p.m. Locate all the instantaneous centres and find the angular velocity of the link BC.

© New Horizon Institute of Technology and Management www.nhitm.ac.in 26 |

 Kinematics of Machinery Course Code: MEL 404 Lab Manual

Example 2. Locate all the instantaneous centres of the slider crank mechanism as shown in
Fig. The lengths of crank OB and connecting rod AB are 100 mm and 400 mm respectively. If
the crank rotates clockwise with an angular velocity of 10 rad/s, find: 1. Velocity of the slider
A, and 2. Angular velocity of the connecting rod AB.

Example 3. A mechanism, as shown in Fig., has the following dimensions:

OA = 200 mm; AB = 1.5 m; BC = 600 mm; CD = 500 mm and BE = 400 mm. Locate all the
instantaneous centres. If crank OA rotates uniformly at 120 r.p.m. clockwise, find 1. the
velocity of B, C and D, 2. the angular velocity of the links AB, BC and CD.

Calculations:

Result:

© New Horizon Institute of Technology and Management www.nhitm.ac.in 27 |

Kinematics of Machinery Course Code: MEL 404 Lab Manual

Conclusion: -

Experiment Rubric:

Signature of
Evaluation Criteria Marks
Instructor with Date
Lab Performance
Topic Knowledge
Task Conclusion
Attainment Level (Out of 3)

© New Horizon Institute of Technology and Management www.nhitm.ac.in 28 |