Class Work

Q1. Synthesize a four bar linkage, as shown below, using Freudensteins equation to satisfy in one of its
positions. The specification of position , velocity and acceleration are as follows:
= 60,
2
= 5 rad/s;
2
= 2 rad/s
2
; = 90;
4
= 2 rad/s;
4
= 7 rad/s
2
.
AB = Input link (link 2) = a, BC = Coupler (link 3) = b, CD = Output link (link 4) = c, and
AD = Fixed link (link 1) = d. The Freudensteins equation is given by:
k
1
cos k
2
cos + k
3
= cos ( ); where k
1
= d/a, k
2
= d/c, and k
3
= (a
2
b
2
+ c
2
+ d
2
)/2ac

Answers: when a = 1.0 unit, b = 35.12, c = 2.12, d = 35.6 units
Q2.Two shafts with an included angle of 160 are connected by a Universal joint.The driving shaft runs at a
uniform speed of 1500 r.p.m. The driven shaft carries a flywheel of mass12 kg and 100 mm radius of gyration.
a) Find the maximum angular acceleration of the driven shaft and the maximum torque required.
b) Determine the angle turned through by the driving shaft when the velocity ratio is a maximum and
unity.
c) If the total permissible variation in speed of the driven shaft is not to exceed 6% of the mean speed,
find the greatest permissible angle between the centre lines of the shafts.
d) Determine the greatest permissible angle between the shaft axes so that the total fluctuation of speed
does not exceed 100 r.p.m. Also calculate the maximum and minimum speeds of the driven shaft.
e) If a steady torque of 200 N-m resists rotation of the driven shaft, find the torque required at the driving
shaft, when = 45. At what value of will the total fluctuation of speed of the driven shaft be limited
to 24 p.m.?
Q3.A cam rotating with uniform speed of 600 rpm about a fixed centre O moves a lever PQ which is pivoted at
Q as shown in Fig. Q2. The base circle radius of the cam is 30mm. The nose of the cam is an arc of a circle of
17.5 mm radius with centre E. The flanks are straight lines, tangential to the base and nose circles. The lever
moves through equal angles above and below the horizontal position, and the path of P may be taken as
approximating to a vertical straight line passing through O. The lever rests upon the cam only by its own
weight. If the angle of ascent is 75 and the total lift is 17.5 mm, determine:
a) The principal dimensions of the cam i.e. the distance between cam centre and nose centre, the nose radius,
and the angle () of contact of cam with the straight flanks.
b) Find the position and magnitude of maximum velocity of the follower
c) The maximum and minimum accelerations of the follower while on the Straight flank, and Circular nose.

Fig.Q2

#Q4. a) Derive expressions for displacement, maximum velocity, maximum acceleration and minimum
acceleration for a tangent cam operating on a radial-translating roller follower when the contact is on straight
flank.
b) Derive an expression for the ratio of shafts velocities for Hookes joint and draw the polar diagram depicting
the salient features of driven shaft speed.
Q5. Derive the expressions for displacement, velocity and acceleration of a four bar mechanism.
Q6. (a) Differentiate between:
i) Planar and Spatial Mechanisms and give examples of each,
ii) Analysis and Synthesis of mechanisms.
iii) Machine and structure
iv) Kinetics and Kinematics
v) Higher and lower pairs.
b) With the help of a sketch describe a four bar mechanism.
Q7. (a) Write brief notes on:
i) Grashoffs Law,
ii) Inversions a mechanism,
iii) Degrees of freedom of mechanisms,
iv) Mechanical Linkages
(b) With the aid of sketches describe three most important inversions that can be obtained from a four bar
mechanisms.
Q8. A Hookes joint connects two shafts whose axes intersect at 150. The driving shaft rotates uniformlyat 120
r.p.m. The driven shaft operates against a steady torque of 150 N-m and carries aflywheel whose mass is 45 kg
and radius of gyration 150 mm. Find the maximum torque which will beexerted by the driving shaft.
(Hint:The maximum torque exerted by the driving shaft is the sum of steady torque and the
maximumaccelerating torque of the driven shaft).
Q9. Two shafts are connected by a Hookes joint. The driving shaft revolves uniformly at 500 r.p.m. If the total
permissible variation in speed of a driven shaft is not to exceed 6% of the mean speed, find the greatest
permissible angle between the centre lines of the shafts. Also determine the maximum and minimum speed of
the driven shaft.
Q10.(a)Explain why two Hookes joints are used to transmit motion from the engine to the differential of
anautomobile.
(b) Derive an expression for the ratio of shafts velocities for Hookes joint and draw the polar diagramdepicting
the salient features of driven shaft speed.
(c) Two inclined shafts are connected by means of a universal joint. The speed of the driving shaft is 1000r.p.m.
If the total fluctuation of speed of the driven shaft is not to exceed 12.5% of this, what is themaximum possible
inclination between the two shafts?With this angle, what will be the maximum acceleration to which the driven
shaft is subjected andwhen this will occur?
Q11. In a symmetrical tangent camoperating a roller follower, the least radius of thecam is 30 mm and roller
radius is 17.5 mm. The angleof ascent is 75 and the total lift is 17.5 mm. Thespeed of the cam shaft is 600
r.p.m. Calculate:
a) theprincipal dimensions of the cam;
b) theaccelerationsof the follower at the beginning of the lift, wherestraight flank merges into the circular
nose and atthe apex of the circular nose.
Q12. A cam has straight working faces which are tangential to a base circle ofdiameter 90 mm. The follower is a
roller of diameter 40 mm and the centre of roller moves alonga straight line passing through the centre line of
the cam shaft. The angle between the tangentialfaces of the cam is 90 and the faces are joined by a nose circle
of 10 mm radius. The speed ofrotation of the cam is 120 revolutions per min.Find the acceleration of the roller
centre when:
a) The roller is just about toleave the straight flank during the lift; and
b) The roller is at the outer end of itslift.

Q13. (a) State an expression for the linear velocity of the reciprocating roller follower when it has contact with
the straight flanks of the tangent cam.
(b) The following particulars relate to a symmetrical tangent cam operating a roller follower:-
Least radius = 30 mm, nose radius = 24 mm, roller radius = 17.5 mm, distance between cam shaftand nose
centre = 23.5 mm, angle of action of cam = 150, cam shaft speed = 600 r.p.m.
Assuming that there is no dwell between ascent and descent, determine the lift of the valve and theacceleration
of the follower at a point where straight flank merges into the circular nose.
Q14. Following is the data for a circular arc cam working with a flat faced reciprocating follower:Minimum
radius of the cam = 30 mm; Total angle of cam action = 120; Radius of the circular arc= 80 mm; Nose radius =
10 mm.1. Find the distance of the centre of nose circle from the cam axis; 2. Draw the profile of the camto full
scale; 3. Find the angle through which the cam turns when the point of contact moves fromthe junction of
minimum radius arc and circular arc to the junction of nose radius arc and circulararc; and 4. Find the velocity
and acceleration of the follower when the cam has turned through anangle of = 20. The angle is measured
from the point where the follower just starts movingaway from the cam. The angular velocity of the cam is 10
rad/s.
Q15. Derive expressions for displacement, maximum velocity, maximum acceleration and minimum
acceleration for a tangent cam operating on a radial-translating roller follower when:
a) the contact is on straight flank, and
b) The contact is on circular nose.
Q16. In a four bar mechanism PQRS, the link PS is fixed. The lengths of the links are:PQ = 62.5 mm;QR = 175
mm;RS = 112.5 mm and PS = 200 mm. The crank PQ rotates at 10 rad/s clockwise.Find the angular velocity and
angular acceleration of the links QR and RS for the values of angleQPS at an interval of 60.
Q17. The figure below shows a cam rotating with uniform speed about a fixed centre O and moves a lever PQ
which is pivoted at Q. The base circle radius of the cam is 25 mm. The nose of the cam is an arc of a circle of 10
mm radius with centre E, the distance OE being 30 mm. The flanks are straight lines, tangential to the base and
nose circles. The lever carries at P a roller of 20 mm radius. The length PQ is 160 mm. The centre of gravity of
the lever (including the roller) is at G, 100 mm from Q, and the radius of gyration about G is 60 mm. The lever
moves through equal angles above and below the horizontal position, and the path of P may be taken as
approximating to a vertical straight line passing through O. The lever rests upon the cam only by its own
weight.

Find the greatest speed of the camshaft at which the roller will always be in contact with the cam. For this speed
of the camshaft, find:
(a) The angular acceleration of the lever when the roller is just leaving its lowest position;
(b) The angular acceleration of the lever when the roller is just about to leave the straight flank of the cam on the
upward stroke.

Q18. A cam profile consists of two circular arcs of radii 24 mm and 12 mm, joined by straight lines, giving the
follower a lift of 12 mm. The follower is a roller of 24 mm radius and its line of action is a straight line passing
through the cam shaft axis. When the cam shaft has a uniform speed of 500rev/min, find the maximum velocity
and acceleration of the follower while in contact with the straight flank of the cam.

Q19. ABCD is a four bar mechanism, with link AD fixed. The lengths of the links are: AB= 300 mm; BC= 360
mm; CD= 360 mm and AD= 600 mm. The crank AB has an angular velocity of 10 rad/s and an angular
retardation of 30 rad/s
2
, both anticlockwise. Find the angular displacements, velocities and accelerations of the
links BC and CD, for an interval of 30 of the crank AB.