MCE 305

Theory of Machines
(Lecture Note 1)
2018A
(3 Units)

BY ENGR. P. A. ONDACHI
COURSE OUTLINE
• Introduction/Revision
• Simple mechanisms and their analysis;
• Vector diagrams;
• Simple harmonic motion;
• Newton’s Laws of motion;
• Force analysis of mechanism;
• Theory of Structures;
• Dynamics of linear systems;
• Governors;
• Introduction to tribology

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THE COURSE
•Definition
The subject, Theory of Machines may be
defined as that branch of Engineering-
science, which deals with the study of
relative motion between the various parts
of a machine, and forces which act on
them. The knowledge of this subject is very
essential for an engineer in designing the
various parts of a machine
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 THE COURSE CONT’D
•Sub-divisions of Theory of Machines
 Kinematics
 It is that branch of Theory of Machines which
deals with the relative motion between the
various parts of the machines.

 Dynamics
 It is that branch of Theory of Machines which
deals with the forces and their effects, while
acting upon the machine parts in motion
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 THE COURSE CONT’D
• Sub-divisions of Theory of Machines Cont’d
 Kinetics
 It is that branch of Theory of Machines which
deals with the inertia forces which arise from the
combined effect of the mass and motion of the
machine parts.

 Statics
 It is that branch of Theory of Machines which
deals with the forces and their effects while the
machine parts are at rest. The mass of the parts is
assumed to be negligible.
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FUNDAMENTAL UNITS
• The measurement of physical quantities is one of the
most important operations in engineering.

• Every quantity is measured in terms of some arbitrary,

but internationally accepted units, called
fundamental units
 Length (L or l ),
 Mass (M or m), and
 Time (t)

• Derived Units

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SYSTEMS OF UNITS
• C.G.S. Units • M.K.S. Units
 centimetre  metre
 gram and
 kilogram and
 Second
 Second
• F.P.S. Units.
• S. I. Units
 Foot
 pound and  System
 Second International Units
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PREFIXES USED IN BASIC UNITS
Factor by which the Standard form Prefix Abbreviation
unit is multiplied
1 000 000 000 000 1012 tera T
1 000 000 000 109 giga G
1 000 000 106 mega M
1 000 103 kilo k
100 102 hecto h
10 101 deca da
0.1 10-1 deci d
0.01 10-2 centi c
0. 001 10-3 milli m
0. 000 001 10-6 micro μ
0. 000 000 001 10-9 nano n
0. 000 000 000 001 10-12 pico p
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RULES FOR S.I. UNITS
• For numbers having five or more digits, the digits should be placed in
groups of three separated by spaces* (instead of commas) counting
both to the left and right to the decimal point.

• In a four digit number,** the space is not required unless the four digit
number is used in a column of numbers with five or more digits.

• A dash is to be used to separate units that are multiplied together. For

example, newton metre is written as N-m. It should not be confused
with mN, which stands for millinewton.

• Plurals are never used with symbols. For example, metre or metres are
written as m.

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 RULES FOR S.I. UNITS CONT’D
• All symbols are written in small letters except the
symbols derived from the proper names. For
example, N for newton and W for watt.

• The units with names of scientists should not

start with capital letter when written in full. For
example, 90 newton and not 90 Newton.

•
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 RULES FOR S.I. UNITS CONT’D

•Example 1

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FORCE
An agent, which produces or tends to produce, destroy or
tends to destroy motion

• Resultant Force
If a number of forces P, Q and R etc. are acting
simultaneously on a particle, then a single force, which
will produce the same effect as that of all the given forces,
is known as a resultant force.

The forces P, Q, R etc. are called component forces.

The process of finding out the resultant force of the given

component forces, is known as composition of forces.

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RESULTANT OF FORCE
•A resultant force may be found out
analytically, graphically or by the
following three laws:
 Parallelogram law of forces
 If two forces acting simultaneously on a particle be
represented in magnitude and direction by the two
adjacent sides of a parallelogram taken in order, their
resultant may be represented in magnitude and
direction by the diagonal of the parallelogram passing
through the point

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 RESULTANT OF FORCE CONT’D
Triangle law of forces
 If two forces acting simultaneously on a particle be
represented in magnitude and direction by the two
sides of a triangle taken in order, their resultant may
be represented in magnitude and direction by the
third side of the triangle taken in opposite order

Polygon law of forces

 If a number of forces acting simultaneously on a
particle be represented in magnitude and direction by
the sides of a polygon taken in order, their resultant
may be represented in magnitude and direction by the
closing side of the polygon taken in opposite order

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 RESULTANT OF FORCE CONT’D

•Example 2

•Example 3

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SCALAR AND VECTOR
• Scalar quantities are those quantities, which have
magnitude only, e.g. mass, time, volume, density
etc

• Vector quantities are those quantities which have

magnitude as well as direction e.g. velocity,
acceleration, force etc.

• Since the vector quantities have both magnitude

and direction, therefore, while adding or
subtracting vector quantities, their directions are
also taken into account
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 SCALAR AND VECTOR CONT’D
• Representation of Vector Quantities

 The vector quantities are represented by vectors.

A vector is a straight line of a certain length possessing a starting

point and a terminal point at which it carries an arrow head.

This vector is cut off along the vector quantity or drawn parallel
to the line of action of the vector quantity

The length of the vector represents the magnitude to some

scale.

The arrow head of the vector represents the direction of the

vector quantity
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 SCALAR AND VECTOR CONT’D
• Addition of Vectors

Fig. 1: Addition of Vectors

Take a point A and draw a line AB parallel and equal
in magnitude to the vector P.
Through B, draw BC parallel and equal in
magnitude to the vector Q.
Join AC, which will give the required sum of the two
vectors P and Q, as shown in Fig. 1 (b)

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 SCALAR AND VECTOR CONT’D
• Subtraction of Vectors

Fig. 2: Subtraction of Vectors

Take a point A and draw a line AB parallel and equal

in magnitude to the vector P.
Through B, draw BC parallel and equal in
magnitude to the vector Q, but in opposite direction
Join AC, which will give the required difference of
the two vectors P and Q, as shown in Fig. 2 (b)

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MOTION
• Change in position of an object

• When the motion of a body is confined to only one plane,

the motion is said to be plane motion.

• The plane motion may be either rectilinear or curvilinear.

Rectilinear Motion
 It is the simplest type of motion and is along a straight line path.
Such a motion is also known as translatory motion

Curvilinear Motion
 It is the motion along a curved path. Such a motion, when
confined to one plane, is called plane curvilinear motion
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 MOTION CONT’D
• Linear Displacement

It may be defined as the distance moved by a body with respect to a certain fixed
point.

The displacement may be along a straight or a curved path.

In a reciprocating steam engine, all the particles on the piston, piston rod and
crosshead trace a straight path

Whereas all particles on the crank and crank pin trace circular paths, whose centre
lies on the axis of the crank shaft. It will be interesting to know, that all the particles
on the connecting rod neither trace a straight path nor a circular one; but trace an
oval path, whose radius of curvature changes from time to time.

The displacement of a body is a vector quantity, as it has both magnitude and

direction.

Linear displacement may, therefore, be represented graphically by a straight line.

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 MOTION CONT’D
• Linear Velocity
It may be defined as the rate of change of linear
displacement of a body with respect to the time.

Since velocity is always expressed in a particular

direction, therefore it is a vector quantity.

Mathematically, linear velocity can be expressed as

follows

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 MOTION CONT’D
• Linear Velocity
If the displacement is along a circular path,
then the direction of linear velocity at any
instant is along the tangent at that point.
The speed is the rate of change of linear
displacement of a body with respect to the
time.
Since the speed is irrespective of its direction,
therefore, it is a scalar quantity
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 MOTION CONT’D
• Linear Acceleration

It may be defined as the rate of change of linear velocity

of a body with respect to the time.

It is also a vector quantity.

Mathematically, linear acceleration,

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 MOTION CONT’D

•Example 4
The motion of a particle is given by
a = 𝑡 3 – 3𝑡 2 + 5, where a is the
acceleration in m/𝑠 2
and t is the time in seconds. The
velocity of the particle at t = 1
second is 6.25 m/s, and the
displacement is 8.30 metres.
Calculate the displacement and the
velocity at t = 2 seconds.

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 MOTION CONT’D

•Equations of Motion
Linear Motion Free Fall ( v = 0 m/s; a = g; s = h)

𝒗
V = u + at V = gt or t = 𝒈 (velocity at a time)

S =ut + ½at2 𝟐𝒉
h = ½ gt2 or t = (height at a time)
𝒈

V2 = u2 + 2as V = 𝟐𝒈𝒉 or h =
𝒗𝟐
(velocity at a height)
𝟐𝒈

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 KINEMATICS OF MOTION CONT’D
Assignment 2a
A car starts from rest and accelerates uniformly to
a speed of 72 km p.h. over a distance of 500 m.
Calculate the acceleration and the time taken to
attain the speed.
If a further acceleration raises the speed to 90 km
p.h. in 10 seconds, find this acceleration and the
further distance moved.
The brakes are now applied to bring the car to rest
under uniform retardation in 5 seconds.
Find the distance travelled during braking.
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 KINEMATICS OF MOTION CONT’D

Assignment 2b
• A ball of mass 5 kg fell freely from the top
of a tower 120 m high, calculate;
Time it takes to reach the ground
Velocity of impact
Velocity at mid way
Velocity after the first 2.5s
Position after 3s
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 THANK YOU
FOR
YOUR AUDIENCE
Course Code 29