Dynamics of Machinery3

ME 302 Dynamics of Machinery Lecture Notes
2011

1
CHAPTER 3
DYNAMICS OF RECIPROCATING
ENGINES

3-1 INTRODUCTION AND KINEMATICS

This chapter studies the dynamics of a slider crank mechanisms in an analytical way. This is
an example for the analytical approach of solution instead of the graphical accelerations and
force analyses. The gas equations and models for combustion is not a concern of this chapter.

Fig: Indicator diagram showing the pressure versus crank rotation.
A
1
4
B
2
3
P
l
r
x
x
y
G3
G2
I2,m2
I3,m3
m4

intake compression power exhaust
Crank angle
P
r
e
s
s
u
r
e

2011

2
Fig:Slider crank mechanism

Loop closure equation can be:
sin sin l r = (1)
cos cos l r x + = (2)

from trigonometric identities
= + 1 cos sin
2 2

2
cos 1 sin = (3)
from first equation
sin sin
l
r
= (4)

Substitute this equation into 3 and then resulting equation into (2)
2
sin 1 cos |
\
|
+ =
l
r
l r x (5)

Dynamic analysis of reciprocating engines was done in late 1800s and by that time extensive
calculations had to be avoided. So there are many approximations in the analysis to simplify
the arithmetic. In equation (5) square root term can be replaced by simplest expression. Taylor
series expansion of square root term, first two term included is as follows:

2
2
2
2
sin
2
1 sin 1
l
r
l
r
= |
\
|
(6)

Squaring is also an arithmetically difficult process:
2
2 cos 1
sin
2

= (7)

Substituting equation 6 and 7 into 5
(
\
|
+ =
2
2 cos 1
2
1 cos
2
2
l
r
l r x
|
\
|
+ + = t
l
r
t r
l
r
l x 2 cos
4
cos
4
2
(8)

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3
Equation (8) defines the displacement of the slider. Velocity and acceleration expressions are
by successive differentiation of this equation with respect to time. If we assume that the
angular velocity of the crank is constant then velocity and acceleration of the slider become:
|
\
|
= |
\
|
= t
l
r
t r t
l
r
t r x
2 sin
2
sin 2 sin
2
sin & (9)

|
\
|
= |
\
|
= t
l
r
t r t
l
r
t r x
2 cos cos 2 cos cos

2
& & (10)
In dynamic force analysis, we put inertia and external forces on top of existing mechanism
and then solve statically. Under the action of external and inertia forces, too many forces exist
on the mechanism hence we use superposition

3-2 GAS FORCE
Assume only gas force exists on the mechanism and calculate the torque on the crank by the
gas force. Forces related with gas force will be denoted by a single prime.
Link 3 is two forces member.
Link 4 is three forces member.
A
4
B
C
2
3
P
B
C
F'14
F'34
T'
x
y
+
F'43
F'23
F'32
F'12
P
F'34
F'14

2011

4
A
4
B
2
3
P
l
r
x
F'12
F'14

Taking the moment about A, only force of F
14
creates moment
14
' ' xF = (11)

We already know x, let us drive expression for F
14
using force polygon:
tan '
'
tan
14
14
P F
P
F
= =
cos
sin
'
14
P F = (12)

Introducing sin sin
l
r
= and
2
sin 1 cos |
\
|
=
l
r
into equation 12,
2
14
sin 1
1
sin '
|
\
|
\
|
=
l
r
l
r
P F (13)

Taylor series expansion of square root term becomes;
2
2
2
2
sin
2
1
sin 1
1
l
r
l
r
+ =
|
\
|

Substituting this expression into 13
2011

5
|
|
\
|
+ |
\
|
=
2
2
2
14
sin
2
1 sin '
l
r
l
r
P F (14)

Substituting equation 8 and 14 into 11
(
|
|
\
|
+ |
\
|
(
\
|
+ + =
2
2
2 2
sin
2
1 sin 2 cos
4
cos
4
'
l
r
l
r
P t
l
r
t r
l
r
l

Neglecting the higher order of
l
r
ratio after necessary manipulation
|
\
|
+ = cos 1 sin Pr '
l
r
(15)

3-3 EQUIVALENT MASSES

To obtain acceleration of third link in algebraic expression is a laborious task. After finding
acceleration of the third link and putting the inertia force on center of mass of third link, doing
force analysis is also laborious. To further simplify the problem, an equivalent mass approach
can be used. In equivalent mass system problem, we generate a model which has two point
masses rather than one (Fig). One of the masses will be at point C. The other is at P.
G3
B
C
P
lB lC
lB lC
lP
m3P G3 m3C
m3 I3

The mass of the model and mass of the actual link should be equal.
C P
m m m
3 3 3
+ = (16)

Mass center of the model and mass center of the actual link should be at the same
place.
C C P P
l m l m
3 3
= (17)

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6
Mass moment of inertia of the model and the actual link should be same.
2
3
2
3 3 C C P P
l m l m I + = (18)

Solving these three equation for;
P
l ,
P
m
3
, and
C
m
3

P C
P
C
l l
m l
m
+
=
3

P C
C
P
l l
m l
m
+
=
3

And

C
CG
P
ml
I
l =

at that point second mass should be located. It is also known as centre of percussion. Centre of
percussion is at point where there is no inertia moment. Only an inertia force exists. In a
connecting rod, where mass centre is nearer to point B and distance between mass centre and
point B is very little. P, the centre of percussion is somewhere in between centre of mass and
B. So, P is nearly coinciding with point B. So, we do not need point P and so
B P
l l = and
P
m
3

should then be placed at point B (
B P
m m
3 3
= ).
B
m
3
and
B
m
3
are required, so we have 3
equation but only two unknowns. One of the equations will be redundant which one to assume
redundant depends onto decision of the designer.

3-4 INERTIA FORCES

Using equivalent mass concept slider crank mechanism can be converted into two mass
system which are located at B and C.
l
m l
m
B
C
=
3

l
m l
m
C
B
=
3

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These equations satisfy the equality of mass and mass centre of the coupler link.
A
1
4
B
2
3

l
r
I2,m2
I3,m3
m4
rG
lB
lC
G2
G3

Second link mass amount assumed to concentrated can be found by:
r
m r
m
G
B
=
2
This equation satisfies the equality of mass and mass centre for the crank.
Then total masses at B and C are;

B B B
m m m
3 2
+ = and
C C
m m m
3 4
+ = .

A
1
4
B
2
3
=t

l r
y
x
C
-mBaB
-mCaC

Position vector defining point B;
j t r i t r R
B
v v v
sin cos + =
j t r i t r V
B
v v v
cos sin + =
[ ] [ ] j t r t r i t r t r a
B
v v
v
sin cos cos sin
2 2
+ =
j t r i t r a
B
v v
v
sin cos
2 2
= for a constant crank speed.
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8

Inertia force on B
j t r m i t r m a m
B B B B
v v
v
sin cos
2 2
+ =

B B
a m
v
is immaterial from crank shaft torque point of view. Because this inertia force is
directed radially and so does not produce any torque on the crank.
i t
l
r
t r x a
C
v
& &
v
|
\
|
= = 2 cos cos
2
for a constant crank speed. Inertia force at C is
C C
a m
v
.

i t
l
r
t r m a m
C C C
v
v
|
\
|
+ = 2 cos cos
2

X and Y component of total inertia forces for moving parts can be summed up;

t
l
r
r m t r m m F
C C B x
2 cos cos ) (
2 2
+ + =
t r m F
C y
sin
2
=

A
4
B
2
3

l
r
x
F''12
F''14
-mBaB
-mCaC

Forces related with gas force will be denoted by a double prime.
Link 3 is two forces member.
F''34
F''14
-mCaC
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9
Link 4 is three forces member.
Taking the moment about A, only force of F
14
creates moment
14
' ' ' ' xF = (**)

We already know x, let us drive expression for F
14
using force polygon:
tan ) ( ' '
) (
' '
) (
' '
tan
14
14 14
x m F
x m
F
a m
F
C
C C C
& &
& &
=
=

Substituting tan , , and x x & & into (**)
(
|
|
\
|
+ |
\
|
(
\
|
+
(
\
|
+ + = t
l
r
t
l
r
t
l
r
t r m t
l
r
t r
l
r
l
C

2
2
2
2
2
sin
2
1 sin 2 cos cos 2 cos
4
cos
4
' '

Neglecting the higher order of
l
r
ratio and then using identities
t t t t sin 3 sin 2 cos sin 2 =
t t t 2 sin cos sin 2 =
|
\
|
= t
l
r
t t
l
r
r
m
C
3 sin
2
3
2 sin sin
2 2
' '
2 2
(15)

Example 1 : (Equivalent Mass) A 1.0 meter long link PQ has a mass of 10 kg and
centroidal mass moment of inertia 0.5 kg.m
2
. Its mass center is at its mid point. Put this body
into an equivalent two point mass system, one of which is located at Q. Find the location of
the center of percussion, where will the other point mass be located? Find the radius of
gyration of the link.
P
Q
CG
1m
P
Q CG
lQ=0.5m
A
lA
mQ mA
1m
Model body
Original body

Q A
m m m + =
Q Q A A
m l m l =
Q Q A A CG
m l m l I
2 2
+ =
P
Q
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10
Solving these three equation for;
A
l ,
A
m , and
Q
m
Q A
A
Q
l l
m l
m
+
= ,
Q A
Q
A
l l
m l
m
+
= , and
Q
CG
A
ml
I
l =

m .
* .
.
ml
I
l
Q
CG
A
1 0
10 5 0
5 0
= = = at that point second mass should be located. It is also known as
center of percussion.
Radius of gyration is m .
.
m
I
k
CG
2236 0
10
5 0
= = =

Example 2 : (Equivalent Mass Graphical Method) In the figure, an elliptic trammel
mechanism is shown with appropriate dimensions, working in the horizontal plane. Put the
coupler link into an equivalent form as two point masses concentrated at points A and B, on
the basis of equivalency of mass and location of mass center. Then calculate the actuation
force required on the slider at B, paralel to the slideway if point B is moving rightward with
constant velocity of 1 m/sec. AB=10 cm, AG
3
=BG
3
=5 cm, =60
o
m
2
=m
4
=0.5 kg, m
3
=0.8
kg, I
3
=0.01 kg.m
2
.

B
A B A
V V V
v v
+ =
s m V
B
A
/ 1547 . 1 =
b ? =
A
V
AB to V
B
A
= ?

= s m V
B
/ 1
= s m V
A
/ 5774 . 0
4
B
2
A
3
G
3
x
VB
VA/B
VA
Scale: 4cm. stands for 1m/sec
VB
VA/B
VA
Scale: 4cm. stands for 1m/sec
2011

11

B
A B A
a a a
v v v
+ =
B
A A
a a
v v
=
t
B
A
n
B
A A
a a a
v v v
+ =
b ? =
A
a
B to A from s m
AB
V
a
B
A
n
B
A
2
2
2
/ 33 . 13
1 . 0
1547 . 1
= = =
AB to a
t
B
A
= ?
2
/ 396 . 15 s m a
A
=
Equivalency of masses
B A
m m m
3 3
+ =
Equivalency of mass center
B A
m BG m AG
3 3 3 3
= solving these two equation for
A
m
3
, and
B
m
3

AB
m AG
m
B
3
3
=
AB
m BG
m
A
3
3
=
kg m
B
4 . 0
1 . 0
8 . 0 * 05 . 0
3
= =
kg m
A
4 . 0
1 . 0
8 . 0 * 05 . 0
3
= =
kg m m m
B B
9 . 0 4 . 0 5 . 0
4 3
= + = + =
kg m m m
A A
9 . 0 4 . 0 5 . 0
2 3
= + = + =

DAlembert force
0
90 8564 . 13 396 . 15 * 9 . 0 = = N ma
A

n
B
A
a
t
B
A
a
A
a
2011

12
4
B
2
A
3
G3
x
N ma
A
8564 . 13 =
B
F

2011

13
4
B
2
A
3
G3
x
N 8564 . 13
B
F
y
+
14
F
12
F

= = =
12 12
0 ; 0 F F F F F
B B x

N F F F
y
8564 . 13 0 8564 . 13 ; 0
14 14
= = + =

N F
F M
B
8
0867 . 0
3087 . 1
0 60 sin * 1 . 0 * 60 cos * 1 . 0 * 8564 . 13 ; 0
12
12
= =
= + =

= N F
B
8

2011

14
Example 3 : (Equivalent Mass Analytical Method)
In the figure, an elliptic trammel mechanism is shown
with appropriate dimensions, working in the horizontal
plane. Put the coupler link into an equivalent form as
two point masses concentrated at points A and B, on the
basis of equivalency of mass and location of mass
center. Then calculate the actuation force using algebraic
approach required on the slider at B, parallel to the
slideway if point B is moving rightward with constant
velocity of 1 m/sec. AB=10 cm, AG
3
=BG
3
=5 cm, =60
o

m
2
=m
4
=0.5 kg, m
3
=0.8 kg, I
3
=0.01 kg.m
2
.

B A B O A O
v v v
+ = (1)
) 180 cos( * 0 + = AB x cos * AB x = x axis components (2)
) 180 sin( * 0 + = AB y sin * AB y = y axis components (3)
0
sec / 1
=
=
x
m x
& &
&
From definition of the question slider B is moving with constant velocity.
sin *
&
& AB x = (4)
cos *
&
& AB y = (5)
cos * sin *
2
& & &
& & AB AB x = (6)
sin * cos *
2
& & &
& & AB AB y = (7)
From equation 4 for
&
and substituting into 5,
sin * AB
x&
&
=
cos
sin *
*
AB
x
AB y
&
& =
sin
cos x
y
&
& =
solving equation 6 for
& &
and substituting into 7
= cos * sin * 0
2
& & &
AB AB
sin
cos
2
&
& &
=

|
|
\
|
=

sin
sin
* sin * cos
sin
cos
*
2
2
&
&
& & AB AB y
sin
*
2
&
& &
AB
y =

DAlemberts force
0
2
90
sin
*
* =
&
AB
m ma
A

4
B
2
A
3
x
y
O
180
2011

15

4
B
2
A
3
x
sin
*
*
2
&
AB
m
12
F
B
F
14
F
180
x
y
+
= = =
12 12
0 ; 0 F F F F F
B B x

sin
*
0
sin
*
; 0
2
14 14
2
& &
AB
m F F
AB
m F
y
= = + =
cos
sin
*
0 sin * * cos * *
sin
*
; 0
2
2
12
12
2
&
&
AB
m F
AB F AB
AB
m M
B
=
= + =

2011

16
Example 4 : (Equivalent Mass Analytical Method)
Crank AB of the mechanism shown is
balanced such that the mass center is at A.
Third link and fourth link masses are
assumed to be concentrated at C. At the
given instant; link four is moving with a
constant velocity of 10 m/sec as shown in
figure. Calculate the amount of motor
torque required on crank AB to keep the
mechanism at the given kinematic state.
Mechanism is working on horizontal plane
given in full scale. Solve this problem
using algebraic method ( ) . Do not
forget to put all forces onto freebody diagrams of the each link.
.(Hint: C A C B B A
v v v
+ = , r AB = , y BC = , x AC = ) m
2
= 5 kg, m
3
+m
4
=10 I
2
= 0.05 kg-m
2

, =30
o

x r = cos (1)
y r = sin (2)
x r r &
&
& = sin cos (3)
y r r &
&
& = cos sin (4)

From eq (3)
sin cos
&
& r r = sin / cos r r =
&
Substituting this equation into (4) and rearranging
sin y r & & = (5)

Substituting (5) into (3)
cos y r &
&
= (6)

Taking derivative of (6)
sin cos
&
& & & &
& & &
y y r r = + r y r &
& &
&
& &
= sin
1
2
3
4
A
s m/ 10
B
C
y
x
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17
( )
r
r y & &
&
& &
+
=

sin
(7)

( )
r
y y
sin sin & &

&
& &
+
=
r
y
sin &
&
& &
= (8)

2
2
2
2
2 sin sin cos 2
r
y
r
y
& &
& &
= =
CW
r
y
2
2
2 sin
&
& &
=

DAlemberts torque
CCW
r
y
I I
2
2
2 2
2 sin
&
& &
=
2
A
B
o
30
3
B
4
C
B
3
member force
zero is Link 4
member force
zero is Link 3
& &
2
I

CW Nm
r
y
I 84 . 1603
05196 . 0
60 sin 10
* 05 . 0
2 sin
2
2
2
2
2
= = =

&

2011

18

References

1- Joseph Edward Shigley , John Joseph Uicker Theory of Machines and Mechanisms,
McGraw-Hill Companies; 2nd edition (November 28, 1994)
2- Dan B. Marghitu, Mechanisms and Robots Analysis with MATLAB, Springer; 1st Edition.
edition (May 5, 2009)
1- J. L. Meriam, L. G. Kraige, Engineering Mechanics , Dynamics, Wiley; 5 edition
(December 31, 2001)
2- Eres Sylemez, Makina Teorisi-1 Mekanizma Teknii, Birsen yaynevi, 3. Basm 2010
http://ocw.metu.edu.tr/course/view.php?id=65
3- Eres Sylemez, Makina Teorisi-2 Makina Dinamii, Birsen yaynevi, 1. bask 2007
4- Fatih Botsal, Makina Dinamii, Nobel Yayn Datm, 1. Bask 2005
5- brahim Deniz Akal,Makina dinamii, Kare Yaynlar, 1 Bask, 2004
6- brahim deniz akal, mekanizma teknii, Birsen Yaynevi, 1. basm 2007
7- Robert L. Norton Design of Machinery: An Introduction to the Synthesis and Analysis of
Mechanisms and Machines , Mcgraw-Hill College; 3rd edition (April 28, 2003)

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ME 302 Dynamics of Machinery Lecture Notes

2 cos cos 2 cos cos

sin sin & &

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