EME2056

THEORY OF MACHINES

CHAPTER 3b

Dynamic Force Analysis

Session2016/2017, Trimester 1
Faculty Of Engineering And Technology

CHAPTER 6
Learning Outcome
LO5
Analyze the kinetics of practical mechanisms

(cognitive - analyzing, level 4)

CHAPTER 6
6.1 Introduction
6.2 Mass and Weight
6.3 Center of Gravity
6.4 Mass Moment of Inertia
6.5 Inertial Force

6.6 Inertial Torque

6.1

Introduction

Determining the operating forces is critical when

design of a machine.
Example: development of an automotive windshield
wiper system.
selection of an electric motor that will drive the
wipers.
torque required to operate the system at different
scenarios must be considered.
High speed setting - large acceleration
inertial force. This force may be large enough
to damage wiper system components.
4

6.2

Mass and Weight

Mass and weight are not identical.

Mass, m, is a measure of the amount of material in an object.
Weight, W, of an object is a measure of the pull of gravity on
it.
Thus, weight is a force directed toward the center of the
earth.
The acceleration of gravity, g, varies depending on the
location relative to a gravitational pull. Thus, the weight of an
object will vary.
Weight & Mass can be related through Newtons gravitational
law.
W = mg
5
g = 9.81m/s2 = 32.2ft/s2 = 386.4 in/s2

6.3

Centre of Gravity

Centre of gravity is a point which locates the

resultant weight of a system of particles.
Consider system of n particles fixed within a region
of space as shown in Figure (a).
The weights of the particles
comprise a system of parallel
forces which can be replaced
by a single (equivalent) resultant
weight having defined point G
of application.
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6.3

Centre of Gravity

Resultant weight = total weight of n particles

WR W

Sum of moments of weights of all the

particles about x, y, z axes = moment of
resultant weight about these axes
Summing moments about the y axis,
x WR ~
x1W1 ~
x2W2 ... ~
xnWn

Summing moments about x axis,

yWR ~
y1W1 ~
y2W2 ... ~
ynWn
7

6.3

Centre of Gravity

Although the weights do not produce

a moment about z axis, by rotating
the coordinate system 90 about x or
y axis with the particles fixed in it
and summing moments about the x
axis,
z WR ~
z1W1 ~
z 2W2 ... ~
z nWn

Generally,
~
xW
~
yW
~
zW
x
;y
,z
W
W
W
8

6.3

Centre of Gravity

x , y, z represent the coordinates of the center of

gravity G of the system of particles.
~x , ~y , ~z represent the coordinates of each particle in
the system and W represent the resultant sum of
the weights of all the particles in the system.
These equations represent a balance between the
sum of the moments of the weights of each particle
and the moment of resultant weight for the system.
9

6.3

Centre of Gravity

Center of Mass
Provided acceleration due to gravity g for
every particle is constant, then W = mg
xm
ym
zm
x
; y
, z
m
m
m

By comparison, the location of the center of

gravity coincides with that of center of mass
Particles have weight only when under the
influence of gravitational attraction, whereas
center of mass is independent of gravity
10

6.3

Centre of Gravity

Center of Gravity
A rigid body is composed of an infinite
number of particles
Consider arbitrary particle
having a weight of dW
xdW

x
;
dW

ydW

y
;
dW

zdW

z
dW

11

6.3

Centre of Gravity

Composite Bodies
Consists of a series of connected simpler
shaped bodies, which may be rectangular,
triangular or semicircular.
A body can be sectioned or divided into its
composite parts.
Provided the weight and location of the center
of gravity of each of these parts are known, the
need for integration to determine the center of
gravity for the entire body can be neglected.
12

6.3

Centre of Gravity

Composite Bodies
Accounting for finite number of weights
~
xW
x
W

Where

~
yW
y
W

~
zW
z
W

x , y , z represent the coordinates of the center

of gravity G of the composite body

~
x, ~
y, ~
z represent the coordinates of the center
of gravity at each composite part of the body
represent the sum of the weights of all
W
the composite parts of the body or total weight
13

Example 1

Locate the center of mass of

the composite assembly.
The conical frustum has a
density of c = 8Mg/m3 and the
hemisphere has a density of h
= 4Mg/m3.
There is a 25mm radius
cylindrical hole in the center.

14

Example 1 - Solution
Composite Parts
Assembly divided into 4 segments. Area of 3 and 4
considered negative
Moment Arm
Location of the centroid for each piece is determined
and indicated in the diagram

15

Example 1 - Solution

Summations, due to symmetry,

x y 0

Segment

m (kg)

z (mm)

zm (kg.mm)

8(10-6)(1/3)(50)2(200) = 4.189

50

209.440

4(10-6)(2/3)(50)3 = 1.047

-18.75

-19.635

-8(10-6)(1/3)(25)2(100) = -0.524

125

-65.450

-8(10-6)(25)2(100) = -1.571

50

-78.540

Sum

m = 3.141

zm = 45.815

~
z m 45.815
z

14.6mm
m
3.141
16

Example 2

The part shown below is made from steel (0.283

lb/in3). Determine the coordinates (x, y, z) of the
center of gravity.

17

Example 2 - Solution

Calculate the weight of the basic shapes:

18

Example 2 - Solution

The coordinates of the center of gravity are:

19

6.4

Mass Moment of Inertia

Angular acceleration about the axis AA of the
small mass Dm due to the application of a
couple is proportional to r2Dm.
r2Dm = moment of inertia of the
mass Dm with respect to the
axis AA
For a body of mass m the resistance to
rotation about the axis AA is
I r12 Dm r22 Dm r32 Dm
r 2 dm mass moment of inertia

The radius of gyration, k for a concentrated

mass with equivalent mass moment of inertia
is
I
I k 2m
k
m
20

6.4

Mass Moment of Inertia

Moment of inertia with respect to the y

coordinate axis is

I y r 2 dm z 2 x 2 dm

Similarly, for the moment of inertia with respect

to the x and z axes,

I z x 2 y 2 dm

I x y 2 z 2 dm

In SI units,

I r 2 dm kg m 2

21

6.4

Mass Moment of Inertia

Parallel-Axis Theorem:
For the rectangular axes with origin at O and parallel
centroidal axes,

I y I y mz 2 x 2
I z I z mx 2 y 2
I x I x m y 2 z 2

Generalizing for any axis AA and a parallel centroidal

axis,
I I md 2

22

6.4

Mass Moment of Inertia

Moments of Inertia of Common Geometric Shapes

Thin Disk

Slender Rod

Thin Rectangular Plate

Circular cylinder

Circular Cone

Rectangular Prism
Sphere

23

Example 3

SOLUTION:
With the forging divided into a prism and
two cylinders, compute the mass and
moments of inertia of each component
with respect to the xyz axes using the
parallel axis theorem.
Add the moments of inertia from the
components to determine the total
moments of inertia for the forging.
Determine the moments of inertia
of the steel forging with respect to
the xyz coordinate axes, knowing
that the specific weight of steel is
7896 kg/m3.
24

Example 3 - Solution
Compute the moments of inertia
of each component with respect
to the xyz axes.

cylinders a 1cm , L 3cm, x 2.5cm, y 2cm :

I x 12 ma 2 my 2

1
2

0.074412 0.074422

0.3348 kgm 2

1 m 3a 2 L2 mx 2
I y 12

1 0.0744 312 32 0.0744 2.52

12

0.5394 kgm 2

each cylinder :

m V 7896 kg/m 3

m 0.0744 kg

I z 121 m 3a 2 L2 m x 2 y 2

3 10

m3

121 0.0744 31 3 0.07442.5 2

2

0.837 kgm 2
25

Example 3 - Solution
prism (a = 2 cm, b = 6 cm, c = 2 cm):

1 m b 2 c 2 1 0.1895 6 2 2 2
I x I z 12
12

0.632 kgm 2

1 m c 2 a 2 1 0.1895 2 2 2 2
I y 12
12

0.126 kgm 2
prism :

m V 7896 kg/m 3 2 2 6 106 m3

m 0.1895 kg

Add the moments of inertia from the components

to determine the total moments of inertia.
2
I x 0.632 20.3348 I x 1.3016 kgm

I y 0.126 20.5394 I y 1.2048 kgm 2

I z 0.632 20.837 I z 2.306 kgm 2

26

6.5

Inertial Force

For linear motion, Newtons 2nd law can be stated

in terms of the acceleration of the links center of
gravity, ag; thus, F = mag
F = mag can be re-written as F mag = 0
The 2nd term of this equation is referred to as the
inertia of a body. This term is defined as an inertia
force, Fgi
Fg = mag
The equation can be re-written as: F + Fg = 0
27

6.5

Inertial Force

Fg = mag
The negative sign indicates that the inertial force
opposes acceleration (it acts in the opposite
direction of the acceleration).
Inertia is a passive property and does not enable
a body to do anything except oppose
acceleration.

28

Example 4
The compressor mechanism shown below is driven clockwise
by a DC electric motor at a constant rate of 600rpm. In the
position shown, the cylinder pressure is 45psi. The piston
weighs 0.5lb, and the coefficient of friction between the piston
and the compressor cylinder is 0.1. The weight of all other
links is negligible. At the instant shown, determine the torque
required from the motor to operate the compressor.

29

Example 4 - Solution
Draw a kinematic diagram and identify the degrees of freedom:

-Having a single degree of freedom.

Determine the Velocity of Points B and C:

2
60

30

Example 4 - Solution

Velocity Diagram:

From velocity diagram:

31

Example 4 - Solution

Acceleration Diagram:

From Acceleration diagram:

32

Example 4 - Solution
Calculate the Inertial Force:
The piston is the only link of considerable weight, so its inertial force is,

Sketch Free-Body-Diagrams
of the Mechanism Links

33

Example 4 - Solution
Solve the Dynamic Equilibrium Equations for Link 4
Link 4 is examined first because it contains the applied force. The gas force is
calculated as,

The friction force is,

Therefore,

34

Example 4 - Solution
Solve for Equilibrium of Link 3

Solve for Equilibrium of Link 2

35

6.6

Inertial Torque

For rotational motion, the Newtons second law

can be summarized in terms of rotational
acceleration and moment of inertia, relative to
an axis through the center of gravity.

Mg = Ig

The subscript g refer to the reference point at the

links center of gravity.

Similarly to linear motion, the above equation

can be re written as :

Mg ( Ig ) = 0

36

6.6

Inertial Torque

Mg ( Ig ) = 0
The second term in above equation is termed the
angular inertia of a body. This term used to define an
inertial torque, Tgi :

Tg = - Ig
i

Negative sign indicates that the inertial torque is

directed opposite to the angular acceleration.

Therefore, Moment equation of dynamic equilibrium,

Mg + Tg = 0
i

37

Example 5

The mechanism shown is used to lower and retract the

landing gear on small airplanes. The wheel assembly link
weighs 100lb, with a center of gravity as shown. The radius of
gyration of the assembly, relative to the center of gravity, has
been experimentally determined as 1.2 ft. The motor link is
rotating counterclockwise at 3 rad/s and accelerating at 10
rad/s2. The motor crank weigh approximately 15 lb and is 2 ft
long, 1 ft wide, and 0.25 ft thick. The connecting link is
estimated to weigh 20 lb and can be modeled as a 3.5-ft
slender rod. Determine all forces acting on the joints of all
links and the torque required to drive the motor link.
38

Example 5 - Solution

39

Example 5 - Solution

Draw a kinematic Diagram and Identify the Degrees of Freedom:

-> having a single D.O.F.

40

Example 5 - Solution

Determine the velocity of Points B and C :

Velocity diagram :

From velocity diagram

41

Example 5 - Solution

Calculate Acceleration Components :

42

Example 5 - Solution

Acceleration Diagram :
aCn + > aCt = aBn + > aBt + > aC/Bn
From Acceleration Diagram

The angular accelerations of the links can then be determined.

43

Example 5 - Solution

Calculate Mass Properties :

The motor crank can be considered a rectangular block. The mass moment of inertia, at
the center of mass, relative to an axis normal to the broad side of the link is,

The connecting arm can be considered as a slender rod. The mass moment of inertia, at
the center of mass, relative to an axis normal to the length of the link is,

44

Example 5 - Solution

Calculate Mass Properties :

The radius of gyration of the wheel assembly has been experimentally determined. The
mass moment of inertia, at the center of mass, relative to an axis normal to the length of
the assembly is,

45

Example 5 - Solution

Calculate the Inertial Force :

For the three moving links, the inertial forces are,

46

Example 5 - Solution

Calculate the Inertial Torque :

For the three moving links, the inertial torque is,

47

Example 5 - Solution
Sketch Free-Body Diagrams of the Mechanism Links :
Because the weight of all links is to be included in the analysis, there are no two-force
members. Thus, all contact forces at the joints are general and are represented by their
orthogonal components.

48

Example 5 - Solution
Generate Equilibrium Equations for Link 4 :

49

Example 5 - Solution
Generate Equilibrium Equations for Link 3 :

50

Example 5 - Solution
Generate Equilibrium Equations for Link 2 :

51

Example 5 - Solution

Solve the Equilibrium Equations :

A total of nine equilibrium equations have been generated. Newtons third law
stipulates that the following magnitudes are equal.

52

Example 5 - Solution
Solve the Equilibrium Equations :
Therefore, nine unknown quantities remain. Solving the nine equilibrium
equations, simultaneously, gives the following results:

53

END OF CHAPTER

54

REFERENCES

D. H. Myszka, Machines and Mechanisms: Applied Kinematic

Analysis, 3rd ed., Prentice-Hall, 2005.

C. E. Wilson and J. P. Sadler, "Kinematics and Dynamics of

Machinery", 3rd ed., Pearson Prentice-Hall, 2006.

R. L. Norton, Kinematics and Dynamics of Machinery,

McGraw-Hill, 1st ed., 2009.

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