PES Institute of Technology

Dept of Mechanical Engineering

Dynamics of Machines
Section –A & B Test -1 Max Marks: 50

Note :Answer 1 question from each part

PART A (20M each)

1. In a spring loaded Hartnell Governor the mass of each ball is 4 kg and the sleeve lift is
40mm. The Governor begins to float at 200 rpm when the radius of the ball path is 90mm. The
mean working speed of the Governor is 16 times the range of the speed when the friction is
neglected. The length of the ball arm and the roller arm are 100mm and 80mm respectively.
The pivot centre and the Governor axis are 115mm apart. Find the initial compression of the
spring accounting for the obliquity of the arms. Assuming the friction at the sleeve to be 15N
find the total alteration in speed before the sleeve begins to move from the mid position.

2. The arms of the porter governor are pivoted on the governor axis and are each 250mm long.
Mass of each ball is 5kg and sleeve mass is 40 kg. The arms are inclined at 30 degrees to the
governor axis in the lower most position of the sleeve. Lift is 50mm. Determine the friction if
the speed at the moment the sleeve starts lifting is the speed at the moment the sleeve falls
from the uppermost position. Also determine the governor range

PART B (20M each)

3. A 3 tonne car has a wheel base of 2.5m and track of 1.5m. The effective diameter of each
wheel is 0.8m and the MI of each wheel is 1.0 kg/m2. The rear axle ratio is 4. MI of the
rotating parts of the engine is 3.0 kg/m2 and the spin axis of engine parts is perpendicular to
the spin axis of the wheels and they rotate clockwise when viewed from the front. Find the
reaction at front wheels if the car takes a right turn of 100m radius at 108kmph. The height of
the CG from the ground is 0.5m from the ground.

4. The total mass of a 4 wheeled trolley is 2000kg. Its track is 1.4m and rounds a curve of 30m
radius at 36kmph on a track of embankment slope of 10 degrees. The OD of each wheel is
0.6m and each pair of axle is 200kg with a radius of gyration of 250mm. the CG is 1.0m above
the wheel base. Find the pressure on each rail.

PART C (10M each)

1. The rotor of a ship has a mass of 2500kg and the radius of gyration of 0.4m rotates at a
speed of 3200rpm counter clockwise when viewed from the stern. Find the gyro couple and its
effect when
a) Ship steers left at a radius of 80m and speed of 7.75m/s
b) Ship pitches with bow rising at an angular velocity of 0.8rad/s

2. In a porter governor each of the four arms is 400mm long and is pivoted on the governor
axis. The of each ball is 8kg and sleeve mass is 60 kg .what will be the equilibrium speed at
the extreme radii of 250mm and 300mm of the rotation of the governor balls
 SOLUTION
A-1.
m=4 kg x=0.04m N1=20 rpm ω1=20.94 rad/s r1=0.09 m
16(N2-N1) = (N2+N1)/2 a=0.1 m b=0.08 m r=0.115 m f= 15 N
Find: Initial spring compression, total alteration in speed before sleeve begins to move from mid
position
Solution: N2+N1=32(N2-N1)
N2+200=32(N2-200)
31*N2=33*200
N2=212.9 rpm ω2=22.29 rad/s

Fc1=4*20.94*20.94*0.09=157.854 N
h= b (r2-r1)/a
0.04=0.08(r2-0.09)/0.1
r2=0.14 m
Fc2= 4*22.29*22.29*1.4=278.23 N
θ2= (r2-r1)/a = h2/b
=> h2= b (r2-r1)/a=0.02 m
Therefore, h1=0.02 m
b2 = sqrt (b*b-h2*h2) = sqrt (0.08*0.08-0.02*0.02) = 0.077 m
a2=sqrt (a*a-h2*h2) = sqrt (0.1*0.1-0.02*0.02) = 0.098 m
mg = 39.24 m
Similarly, b1=0.077 m a1=0.098 m
1) 278.23*0.098+39.24*(0.14-0.115)=(s2*0.077)/s1
s2=733.7N
2) 157.854*0.098=39.24*(0.115-0.09)+(s1*0.077)/2
s1= 376.33
s2-s1 =k*h
k= (733.7-376.33)/0.04 = 8934.25 N/m
Initial compression, s1/k =376.333/8934.25 = 0.042 m
= 42.12 mm
Considering friction,

S=s1+h1*k
= 376.33+8934.25*0.02
= 555.014 N
Fc*0.1 = (s+F*0.08)/2
0.1*4*0.115*ω’2*ω’2 = 555.014+14*0.08 = 22.26 rad/s
N2’ = 212.6
0.1*4*ω1’*ω1’*0.115 = 555.014-15*0.08
ω1’ = 21.6 rad/s N1’= 206.93
ΔN = 5.67 rpm

A-2.
α1=30 k=0.05 m f=?
r=0.25 sin 30=0.125 h1= 0.25 cos 30 = 0.216
m*ω*ω*γ*c = mg*a+Mg*a/2+b
m *γ*ω*ω = mg*tan α +Mg*(tan α + tan β)/2
m *h*ω*ω = mg + Mg(1+k)
m *ω1max* ω1max*h1= (mg+Mg+F)
m*ω2min*ω2min*h2 = (mg+Mg-F)
given, ω1max*ω1max = ω2min*ω2min
sleeve, L = 0.05 m
=>2(h2-h1) = 0.05
h2-h1 = 0.025
assuming, h2= h1-0.216 = -0.025+0.216 = 0.191
h2=0.191
 0.2 cos α2 = 0.191
 α2 =40.18
γ2=0.161 m
1.13 = (441.3 + F)/ (441.3-F)
498.67-1.13F = 441.3 +F
F=26.93 N
B-3.
M = 3000 kg w = 29419.95 N a=1.5 m b = 2.5 m
rw =0.8/2=0.4 m
Iw = kg m*m G = 4
Ie = 3 kg m*m R = 100 m V = 30 m/s
h = 0.5 m
1. Reaction due to weight
w /4 =7354.98 N
2. Centrifugal force
Fc = (m* V * V)/R = 27000 N
Cc = Fc *h = 13500 Nm
Reaction on each wheels = 13500 / (2 * 1.5)
= 45000 N
On Inner wheel = 4500 N ↓
On Outer wheel = 4500N ↑
3. Gyro couple due to four wheels = 4IwWwωp
= (4*1*30*30)/ (100*0.4) = 90 Nm
On Inner wheels = 360/ (2*1.5) = 30 N↓
On Outer wheels = 30 N↑
4. Gyro couple due to engine
G *Ie *ωw*ωp = (4*3*30*30)(100*0.4) = 270Nm
Gyro reaction on the front wheels = 54 N↑
Net reaction on front wheels = 54 -30-4500+7354.98
Left wheel = 2878.98 N
Right wheel = 54+7354.98+4500+30
=11938.98 N

B-4.
m = 2000 kg W = 19613.3 r = 0.3 m 2mw = 200 kg k=0.25 kg
w = 1.4 m R = 30 m
MI of the axle = 12.5 kg*m*m
h=1m V = 10 m
Reaction due to weight
2Riw+2Row = 19613.3 * cos 10 = 19315.33
2Riw*1.4 = 19613.3 *sin 10*1+19613.3* cos 10*0.7
2Riw = (16926.5/1.4) N = 12090.4 N
2Row = 7224.9 N↑
Reaction due to centrifugal force
Fc= (2000 *10*10) / 30 = 6666.67 N
2Ric+2Roc = 6666.67*sin 10 = 1157.65 N
2Ric * 1.4 = 6666.67*sin 10*0.7- 6666.67 *sin 10* 1
2Ric = -411073 ↓
2Roc = 5268.4 ↑
Gyro couple
(2*12.5*10*10)/(30*0.3)=(277.7*cos 10) = 272
2 Rig = 277.7/1.4 = 195.38↓
2 Rog = 195.38 ↑
Therefore, reaction by the inner rails = 12090-4110.7-195.4
= 7783.87 ↑
Pressure on the inner rails = 7783.87↓
Pressure on the outer rails = 7224.9 + 5268.4+195.4
=12688.7 N
C-5.
M = 2500 kg k = 0.4 m N = 3200 rpm ω = 335.10 rad/s
1) R = 80 mm V=7.75 m ωp = 0.097 rd/s
c = (2500* 0.4*0.4)*335.10*0.097 = 12985.13 Nm

2) ωp = 0.8
c = 107093.8 Nm

C-6.
l = 0.4 m m=8 kg w=78.45 M=60 w=588.4 N r1 = 0.25 m r2 =0.3 m
Therefore,
h1 = sqrt (0.4*0.4-0.25*0.25) = .312
h2 = 0.26
m * ω1*ω1 = mg+Mg
= 588.4
ω1 = 16.34 N1 = 156
ω2 = 17.82 N2 = 170