ME 3507: Theory of Machines

Introduction

Dr. Faraz Junejo

 Assessments
3 Quizzes: 18 (15) Marks (6 (5)Marks each)
You will be notified 1 Week in advance
1 Course Work 2 parts: 7 (5) Marks
(Submission after mid and final exams)
Mid Term Exam (8th Week 23rd October):
25 (20)Marks
Final Exam (17th Week 26th December)
: 50 (35) Marks
Lab Component will be evaluated
independently.
 Class Conduct
Absences from class
Late in class
Assignment submission

Absence from Mid Term or Final Exam

Cheating

Anything you want to ask, ASK NOW !!

Text & Reference Books
 Basic Concepts: Machine
A machine is an assemblage of rigid bodies that
transmits and/or transforms forces, motion and
energy in a predetermined manner, to do work.
OR
It is a combination of resistant bodies (the deformation, if any,
due to application of forces is negligible) which are shaped and
interconnected in such a way so as to transform and transmit
the available energy to do particular kind of work.
 Machine

(rigid or resistant)
 Example: Machine
A screw jack is a machine which enables the
muscular energy of a human to be employed in
raising a vehicle, as in figure shown below by
turning the lead screw.
 Example: Dumping Truck
Here input motion is linear, provided by a
hydraulic actuator.
Whereas, output motion is the rotary motion of
the dumper
 Theory of Machines (TOM)

It is the branch of engineering science that deals

with the study of:

Relative motion between the various parts of

the machine, and

Forces which act on them.

 Why do we study Theory of Machines?

The knowledge of this subject is essential

for an engineer in designing the various
parts of the machine.
 Subdivision of TOM
TOM Constitutes of many sub-areas, such as:

Statics

Kinematics

Kinetics

Dynamics
 Review: What is Mechanics?
Mechanics is the physical science that deals
with the behavior of bodies under the
influence of forces, i.e.

Study of what happens

to a thing (the
technical name is
BODY) when FORCES
are applied to it.
 Review: Mechanics of Rigid Bodies
Mechanics can be divided into 3 categories:
1.) mechanics of rigid bodies,
2.) mechanics of deformable bodies, and
3.) mechanics of fluids.
This course deals solely with the mechanics of
rigid bodies.
A rigid body is a body which does not deform
under the influence of forces such as rigid link,
rigid disc etc.
 Review: Mechanics of Rigid Bodies

In all real applications, there is always

deformation, however, many structures, such
as bridges and machines exhibit very small
deformations under normal loading
conditions, and rigid body mechanics can be
used with sufficient accuracy in those cases.
 Links
Links are rigid bodies each having hinged holes or slot to be
connected together by some means to constitute a mechanism
which able to transmit motion or forces to some another locations.
 Crank & Connecting Rod Mechanism
This mechanism is composed of three important parts:
The crank which is the rotating disc, the slider which
slides inside the tube and the connecting rod which
joins the parts together.

Animation : http://www.technologystudent.com/cams/crkslid1.htm
 Structures v/s Machines

Machines: An arrangement of parts and/or mechanisms

for doing work and there are constrained relative motions
between its parts.

Structure: The same definition of machine, but its

purpose is not to do work and there is no relative motion
between its parts.
 Statics
The mechanics of rigid bodies is sub-divided
into two areas, statics and dynamics.

Statics is the study of bodies in equilibrium.

This means there are no unbalanced forces on

the body, thus the body is either at rest or
moving at a uniform velocity (i.e. it has no
acceleration, implying body is moving with constant speed
along a straight path).
 Dynamics
Dynamics is the study of bodies which are not
in equilibrium, thus there is acceleration.

Dynamics is further subdivided into:

kinematics and

kinetics.
 Kinematics
Kinematics is the study of the motion of a body,
without regard for how the motion is produced
i.e. its relate the motion variables (displacement, velocity,
acceleration) with the time.

During this course, Kinematic principles are

often applied to the analysis of machine
members to determine positions, velocities, or
accelerations at various parts of the machines'
operation.
 Kinetics
Kinetics is the study of the forces which cause
motion, or the forces which result from motion.
 Important Note !!
KINEMATICS: The study of motion without regard to
forces.
KINETICS The study of forces on systems in motion.
These two concepts are really not physically separable.
We arbitrarily separate them for instructional reasons in
engineering education. It is also valid in engineering
design practice to:
First consider the desired kinematic motions and their
consequences, and then
Subsequently investigate the kinetic forces associated
with those motions.
 Important Note !!
For example; it is quite logical to consider them in
the order listed since, from Newton's second law,
F = ma,
one typically needs to know the accelerations (a)
in order to compute the dynamic forces (F) due to
the motion of the system's mass (m).
There are also many situations in which the
applied forces are known and the resultant
accelerations are to be found.
 Summary: Mechanics

Deals with the action of forces on bodies at rest

and in motion.

Statics: The part of mechanics, which deals with

the forces and their effects on bodies at rest.

Dynamics: The part of mechanics, which deals

with the forces and their effects on bodies in
motion.
 Summary: Statics
It is the branch of TOM which deals with the
forces and their effects while the machine parts
are at rest.

The mass of the part is assumed to be

negligible.
 Fundamental quantities
The following concepts and definitions are
basic, and they should be understood at the
outset.
Length

Time

Mass

Force
 Basic Concepts: Length
Length is the quantity used to describe the
position of a point in space relative to another
point.
This distance is described in terms of a standard unit
of length.

The universally accepted standard unit for length is

the meter.
 Basic Concepts: Time
Time is conceived as succession of events (i.e.
interval between two events) and is a basic
quantity in dynamics.

Principles of Statics are time independent, i.e.

Time is not directly involved in the analysis of
statics problems.

The generally accepted standard unit for time

is the second.
 Basic Concepts: Mass
Mass is a property of matter, as it can be
considered to be the amount of matter
contained in a body.

The mass of a body determines both the

action of gravity on the body, and

the resistance to changes in motion. This

resistance to changes in motion is referred to
as inertia, which is a result of the mass of a
body.
 Basic Concepts: Force
Force is the action of one body on another.
For example, push or pull exerted by one body
on another.

A force tends to move a body in the direction

of its action.

The action of a force is characterized by its

magnitude, by the direction of its action, and by its
point of application.
 Mechanisms and Machines
A mechanism is a device which transforms motion to
some desirable pattern and typically develops very
low forces and transmits little power.

A machine typically contains mechanisms which are

designed to provide significant forces and transmit

significant power.
 Mechanisms and Machines (contd.)
Examples of mechanisms include pencil
sharpener, a camera shutter, an analog clock,
an adjustable desk lamp.

Some examples of machines which possess

motions similar to the mechanisms listed
above are a food blender, a bank vault door,
an automobile transmission and a robot.
 Mechanisms and Machines (contd.)
There is no clear-cut dividing line between
mechanisms and machines. They differ in
degree rather than in kind.

If the forces or energy levels within the device

are significant, it is considered a machine; if
not, it is considered a mechanism.
 Mechanisms and Machines (contd.)

The similarity between machines and mechanisms

is that:
they are both combinations of rigid bodies
the relative motion among the rigid bodies are
definite.
 What is a Mechanism?
A mechanism is the part of a machine which
contains two or more pieces arranged so that the
motion of one compels the motion of the others.

Generally used to:

Change the direction of movement; Ex: pulley on the
flagpole
Change the type of movement; Ex: lead screw in screw
jack
Change the speed of movement, Ex: gears
Change the amount of torque or force available to do
work; Ex: Crowbar
Changing the direction of Movement
 Conversion of Motion
In a glue stick, for example, a screw mechanism
converts rotary motion into linear motion.
 Changing the speed of the movement
A clock
mechanism
contains gears
to control the
speed of the
hands. The
gears make the
hour hand
move slower
than the
minute head.
Changing the amount of force produced:
Lead Screw
Jack Changes rotary
Vice movement into linear
movement
Significantly increases
force
A person can put a
little force into turning
the handle to move a
heavy car.
Mechanisms and simple Machines:
Incline Plane
 The Egyptians used simple machines to build the pyramids.

One method was to build a very long incline out of dirt that rose
upward to the top of the pyramid very gently.

The blocks of stone were placed on large logs (another type of

simple machine - the wheel and axle) and pushed slowly up the
long, gentle inclined plane to the top of the pyramid.
 Mechanisms
Mechanisms, if lightly loaded and run at slow
speeds, can sometimes be treated strictly as
kinematic devices; that is, they can be
analyzed kinematically without regard to
forces.
 Machines
Machines (and mechanisms running at higher speeds),
on the other hand, must first be treated as
mechanisms, a kinematic analysis of their velocities and
accelerations must be done, and

Then they must be subsequently analyzed as

dynamic systems in which their static and dynamic
forces due to those accelerations are analyzed using
the principles of kinetics.
 Course Overview
Initially, we will focus on Kinematics of Mechanisms,
in which we will study:
Kinematics Fundamentals, Different types of
Mechanisms, Position, Velocity and Acceleration
analysis and Cam Design.

Then we will shift our attention to Dynamics of

machinery, in which we will study:
Dynamics Fundamentals, Dynamic force analysis and
Balancing.
 Reminder !!

Get Text Book and

Geometrical Set!

Thank You