Dynamics of Mechanisms

Lecture 03: Dynamic Force Analysis

R Prasanth Kumar

Department of Mechanical and Aerospace Engineering

Indian Institute of Technology Hyderabad

March-April 2018, 46 Segment

Dynamic Force Analysis

 Force analysis when the mechanism or machine is not in static equilibrium
 After performing kinematic analysis of a mechanism or machine, we need to
1. know what input forces or torques are required to cause that motion obtained from
kinematic analysis,
2. know all the forces and torques acting on each of the links so that they are designed
to withstand the stresses.
 Kinetostatic solution or inverse dynamics solution

Dynamic Force Analysis

Equations of Motion or Equilibrium

 
 = maG or
F  − maG = 0
F

 
T = J α or T − Jα = 0
Dynamic Force Analysis
Single Link Connected to a Pivot

P
FP

G1 
T12  =F
F  12 + F
 P = maG
1
(2) 
F12  12 × F
T = T12 + R  12 + R
P ×F
 P = JG α
1
O

(1)

Dynamic Force Analysis

Single Link Connected to a Pivot

The link length is 250 mm with a mass of 2 kg. CG is at the geometric center of the
link. Mass moment of inertia about CG is 0.011 kg-m2 . The kinematic data are:
θ2 = 30◦ , ω2 =20 rad/s, α2 = 15 rad/sec2 , and aG2 =50@208◦ m/s2 . An external force
of 200 N at 0◦ is acting at P. Find the force at pivot and driving torque.

Dynamic Force Analysis

Single Link Connected to a Pivot

The link length is 250 mm with a mass of 2 kg. CG is at the geometric center of the
link. Mass moment of inertia about CG is 0.011 kg-m2 . The kinematic data are:
θ2 = 30◦ , ω2 =20 rad/s, α2 = 15 rad/sec2 , and aG2 =50@208◦ m/s2 . An external force
of 200 N at 0◦ is acting at P. Find the force at pivot and driving torque.
Answer: 292.09 N∠ − 170.75◦ , T12 = 25.491 N-m
Dynamic Force Analysis
Four-bar Mechanism

⎧ ⎫
⎧ ⎫ ⎡ ⎤ ⎪ PO x ⎪ ⎧ ⎫
⎪ ⎪ 2 ⎪
⎨m2 ẍ2 ⎪
⎬ 1 0 1 0 ⎪
⎨P ⎬ ⎪
⎪ ⎨F2x ⎪
⎬
⎢ ⎥ O2 y
m2 ÿ2 = ⎣ 0 1 0 1 ⎦ + F2y
⎪
⎩ J θ̈ ⎪⎭ ⎪ PAx ⎪ ⎪ ⎪
d2 sin θ2 −d2 cos θ2 −f2 sin θ2 f2 cos θ2 ⎪⎪
⎩ ⎪ ⎩ M2 ⎭
⎪
2 2
PAy ⎭
⎧ ⎫
⎧ ⎫ ⎡ ⎤ ⎪PAx ⎪ ⎧ ⎫
⎪ ⎪ ⎪ ⎪F ⎪
⎨m3 ẍ3 ⎪
⎬ −1 0 1 0 ⎨P ⎪
⎪ ⎬ ⎨ 3x ⎬
⎢ ⎥ Ay
m3 ÿ3 = ⎣ 0 −1 0 1 ⎦ + F3y
⎪
⎩ J θ̈ ⎭⎪ ⎪ P ⎪ ⎪ ⎪
3 3 −d3 sin θ3 d3 cos θ3 −f3 sin θ3 f3 cos θ3 ⎪⎪ Bx ⎪
⎩ ⎪ ⎩ M3 ⎭
⎭
PBy
⎧ ⎫
⎧ ⎫ ⎡ ⎤ ⎪ PBx ⎪ ⎧ ⎫
⎪ ⎪ ⎪
⎨m4 ẍ4 ⎪
⎬ −1 0 1 0 ⎪
⎨ ⎪ ⎨
⎬ ⎪F4x ⎬
⎪
⎢ ⎥ PBy
m4 ÿ4 = ⎣ 0 −1 0 1 ⎦ + F4y
⎪
⎩ J θ̈ ⎪⎭ ⎪PO4 x ⎪⎪ ⎪⎩M ⎪
4 4 d4 sin θ4 −d4 cos θ4 f4 sin θ4 −f4 cos θ4 ⎪⎪
⎩ ⎪
⎭ 4
⎭
PO4 y

Dynamic Force Analysis

Slider-Crank Mechanism

Derive equations of motion for slider-crank mechanism

Shaking Forces and Shaking Moments

 The sum of all the forces transmitted to the ground is called a shaking force Fs .
 The sum of all the moments transmitted to the ground is called a shaking
moment Ms .
Shaking forces and moments can be minimized by:
1. the addition of a flywheel,
2. balancing,
3. vibration isolation.
Dynamic Analysis of Slider Crank Mechanism
 Given the force on piston, what is the turning moment on the crank?

x = l cos φ + r cos θ

x 1
= cos θ + 1 − λ2 sin2 θ
r λ
For λ << 1,
 
λ
ẋ = −ωr sin θ + sin 2θ
2
ẍ = −ω 2 r (cos θ + λ cos 2θ)

Dynamic Analysis of Slider Crank Mechanism

Dynamically Equivalent Link

 To simplify the analysis, we assume connecting rod to be massless but distribute

its mass to piston and crank.
 Three conditions have to be satisfied to replace an arbitrary link with its dynamic
equivalent rod with two masses:
1. Sum of the two masses should be equal to the original mass.
2. Center of gravity should be same.
3. Moment of inertia should be same.

m1 + m2 = m
m1 a1 − m2 a2 = 0
m1 a12 + m2 a22 = J

Dynamic Analysis of Slider Crank Mechanism

Turning Moment (Approximate Mass Distribution of Connecting Rod)

pA + mrec ẍ = Q cos φ
pA − mrec ω 2 r(cos θ + λ cos 2θ)
Q=
cos φ
pA − mrec ω 2 r(cos θ + λ cos 2θ)
M = r sin(θ + φ)
cos φ

For vertical cylinder engines (cylinder above the crank shaft),

pA + mrec g − mrec ω 2 r(cos θ + λ cos 2θ)

M = r sin(θ + φ)
cos φ
Dynamic Analysis of Slider Crank Mechanism
Turning Moment (Approximate Mass Distribution of Connecting Rod)

A single cylinder vertical engine (cylinder above the crank shaft) has a bore of 30.5
cm, a stroke of 40 cm, and a connecting rod 80 cm long. Mass of the reciprocating
parts is 135 kg. When the piston is at quarter-stroke and is moving downwards, the
net pressure on it is 65 N/mm2 . If the speed of the engine is 250 rpm, find the turning
moment on the crankshaft at the instant corresponding to the position shown.

Dynamic Analysis of Slider Crank Mechanism

Turning Moment (Approximate Mass Distribution of Connecting Rod)

A single cylinder vertical engine (cylinder above the crank shaft) has a bore of 30.5
cm, a stroke of 40 cm, and a connecting rod 80 cm long. Mass of the reciprocating
parts is 135 kg. When the piston is at quarter-stroke and is moving downwards, the
net pressure on it is 65 N/mm2 . If the speed of the engine is 250 rpm, find the turning
moment on the crankshaft at the instant corresponding to the position shown.
Answer: M = 7472 N-m.

Turning Moment Diagrams

Given the force on piston (including pressure and inertia) as F, the turning moment on
the crank can be calculated as

T = Ft r
 
sin 2θ
= Fr sin θ + 
2 λ2 − sin2 θ

Ft is the perpendicular force component to the crank.

Turning moment vs crank angle θ is called turning moment diagram.
Ft vs θ is called crank effort diagram.
Flywheels
 Reduce variation of crank shaft speed during each cycle of an engine
 When energy supply is more, it stores energy as kinetic energy and releases it to
crank shaft when the supply is low.
The maximum fluction of energy e is
1 1
e = I ω12 − I ω22
2 2 
ω1 + ω2
=I (ω1 − ω2 )
2
= I ω(ω1 − ω2 )
 
2 ω1 − ω2
= Iω
ω
2
= Iω K

K is the coefficient of fluctuation of speed.

Flywheels
A flywheel with a mass of 3000 kg rotates between 315 rpm and 340 rpm. Find the
coefficient of fluctuation of speed and maximum fluctuation of energy. How do you
reduce the maximum fluctuation of energy.

References
1. Theory of Mechanisms and Machines, 3e, 2006, East-West Press Pvt Ltd.
 Amitabha Ghosh and Asok Kumar Mallik
2. Kinematics and Dynamics of Machinery, SIe, 2009, Tata McGraw-Hill
 Robert L Norton
3. Theory of Machines and Mechanisms, 3e, 2009, Oxford
 John J. Uicker, Gordon R. Pennock, and Joseph E. Shigley
4. Kinematics, Dynamics, and Design of Machinery, 2e, 2007, Wiley
 Kenneth J. Waldron and Gary L. Kinzel
5. Machines & Mechanisms: Applied Kinematic Analysis, 3e, 2009, PHI Learning
Pvt Ltd.
 David H. Myszka