Hints

Chapter-1

1.22

9 10

5 6
2 3
3 8 9
8 11
7 1 4
4 10 7
11 5 6 2
12
1
1

(b) (c)

(b) There is one double joint.

(c) There are three double joints.

1.24
4 excess joints can be formed by 8 ternary links.
1.25

4
7 7
6
6 5
6 8
3

5 4 8
(a) (b) (c)

(a) It is a class-I mechanism. As the link adjacent to the shortest link is fixed, it is a
crank-rocker mechanism.
(b) Class-I mechanism. As the shortest link is fixed, it is a double-crank mechanism.
(c) Not a class-I mechanism. Therefore, it is a double-rocker mechanism.
 Chapter-2

2.12
Velocity diagram is given below:
C

E
B

A D F

0.99

0.83

ad
f 0.81

0.628

2.14
E

B e

o,f,d
c

b
O a
F D

va = r = 12 X 0.04 = 0.48 m/s

Assume the length of vector vef and complete the velocity diagram. In the end,
measure the length of the vector oa. Take it equal to 0.48 m/s and determine the scale for
velocity and with that find the velocity vector ab.
ab 0.19
Then angular velocity of link AB = = = 1.75 rad/s
AB 0.11

2.16
 B

1.257m/s

c
o, a
O d
0.32
C

A D

2X 80
vb = r = X 0.15 = 1.257 m/s
60
vd = 0.32 m/s

2.17
l
Maximum velocity during cutting = rX
c+r
l
Maximum velocity during return = rX
cr

2.18
13

Q 14 56 C
6

B 5
4 1 2

34,35,45

6 3
3 15

46
5 4
24
A 26
23 16
2
12 O

2X 50
vc = 2 X (12-26) = X0.0206 = 5.23 X .0206 = 0.108 m/s
60

To find angular velocity of AB (link 3):

Link 3 has rotation about 13,
Velocity of A = 3 X (13-23) = 2 (12-23)
or 3 X 0.21 = 5.23 X 0.03
3 = 0.74 rad/s

Velocity of B = 3 X (13- B) = 0.74 X 0.177 = 0.13 m/s

To find angular velocity of BQ (link 4):

 Link 4 has rotation about 14,
Velocity of B = 4 X QB = 0.13
or 4 X 0.1 = 0.13
4 = 1.3 rad/s

2.19
24 1 2

6 3

23 B 4
3 5

34

2
26
4
36

12 O 16
46 C
45 5
13 1

56
14 6
D

2X 80
= = 8.38 rad/s
60
Velocity of D = 2 (12 - 26) = 8.32 X 0.038 = 0.32 m/s

2.20

23 14
2

3 6 1 2
12 46
4
34
16 6 3

5 4
13 35 5 15

2X 200
va = 2 X OA = X 0.03 = 20.94 X .3 = 6.28 m/s
60
To find angular velocity of AC (link 3):
Link 3 has rotation about 13,
Velocity of A = 3 X (13-23) = 6.28
or 3 X 1.3 = 6.28
3 = 4.8 rad/s
To find angular velocity of BD (link 4):
Link 4 has rotation about 14,
Velocity of B = 4 X (14-34) = 3 X (13-34)
or 4 X 1.13 = 4.8 X 1.02
4 = 4.33 rad/s
Velocity of C,
vc = 3 X (13- 35) = 4.8 X 1.1 = 5.28 m/s
Velocity of D,
vd = 4 X (14- 46) = 4.33 X 0.35 = 1.52 m/s
 Chapter-3

3.7
Velocity and acceleration diagrams are given below:
Q

O
S
B

a qb
b1
1.047 bs
0.759 s1 o1, q1

s o, q
0.29
0.925 as a1
b

3.8
1 2 1 2 1 2 1
KE = mv + I = mv + mk 2 2
2 2 2 2

3.12
Velocity and acceleration diagrams are given below:
o,q

R A on slider
B on QR 2.55
6
b
5.4
O Q
o1,q1
a
bq

a1

ba

b1
 2
c
f ao = X r = (20)2 X 0.3 = 120 m/s2
c
f bq =
(qb )2 = (2.55)2 = = 14.1 m/s2
QB 0.46
bq 2.55
cr
f ba = 2. bq vba = 2. . X 5.4 = 2 X X 5.4 = 5.54 = 4.89 m/s2
BQ 0.46
bb 165
qr = 1 q = = 358 rad/s2
BQ 0.461
 Chapter-5

5.7
k1cos30 + k2 cos 25+ k3 = cos (25- 30)
k1cos40 + k2 cos 35+ k3 = cos (35- 40)
k1cos60 + k2 cos 50+ k3 = cos (50- 60)

5.8

Position x y
1 2 8 40 60
2 3 18 80 90
3 4 32 120 132
1 (18 8)
when is 40 + 80 = 80, is 60 + (132 o 60) = 90
2 (32 8)
 Chapter-6

6.23
The triangles OAC and OBD as well as OEC and OFD are similar for all
positions. Thus if C traces any path , D describes a similar path.

6.26

B C'

C
B'

1.3 BC

D
A

Make the following construction:

Draw the configuration in any other position.
Produce AB and DC to meet at point O.
Draw a vertical through O to the central arm at P.
P is found to be approximately at a length 1.3 BC below BC.

6.27

PA QB
=
PB OA
Let PB = x, then PA = 175 x
175 x 200
or =
x 120

6.28

Let PB = x, then PA = 60+x

60 + x 90
or =
x 45

6.30

Acceleration of driven shaft is maximum or minimum when

 2 sin 2 2 sin 2 15
cos 2 0.0693
2 sin 2 2 sin 2 15
 Chapter-7

7.21
Refer Fig. 7.36,
During the lifting of the follower, the acceleration takes place when the follower
is on the radial flank and the deceleration when the follower is on the nose. When the
follower just touches the nose, the follower position will be as shown in Fig. 7.36. OC
and PQE are parallel and the angles = 25 and = 50 so that is 50% of .
Accelerations
(a) At the beginning of contact, = 0,
f = 2 (rf rc) cos 0
2
2 1250
or f = (148 62.5)
60
= 1465 000 mm/s2 or 1465 m/s2

(b) Contact at the apex of nose, = = 80,

2X 1250
= =130.9 rad/s
60
f = -2r cos (75 - 75) = - 130.92 47.2
= - 808 800 mm/s2 or 808.8 m/s2

Maximum acceleration is when the contact is just made with the circular flank; it
is 1465 m/s2 and the maximum retardation is at the end of the lifting period, i.e. when the
contact is at the apex of the nose; it is 808.8 m/s2.

7.22

Crank rotation during of the exhaust valve = 180 -5 + 53 = 228

In four-stroke engines, the camshaft speed is half that of the crankshaft.
228 114
Angle of action of the camshaft, 2 = = 114 or = = 57
2 2
 Chapter-8

8.22
= 0.2 , tan = 0.2 ; =11.31o
tan = p/ d = 24/( X72) = 0.1061 or = 6.056o
T = F.r = W.tan ( + ).r

8.23

= 0.18 , tan = 0.18 ; =10.2o

10
tan = = 0.579 or = 3.312o
X (50 + 5)
Let W be the load in N.
Torque to raise the load = W.tan ( + ).r
Torque due to collar friction = .W.r

8.24

cos ' tan (x + z ) sin ( + )
= cos ( + )
sin( + 2 ' ) b
a +
2
o
= tan = 0.15 ; = 8.53
tan = 0.2 ; = 11.31o

= 20o; b = 0.05 ; y = 0.12m ; x = 0.045 m

a and z can be calculated as given below,

yz
tan = = or z = y - a - b
a+b
z
In OGH , tan = = or z = a
a
y a b = a or 2a = y - b
y b y b 0.12 0.05
a= = = = 0.375
2 2 2 2 X 0.15 2
z = a. = 0.375 X 0.15 = 0.05625

=
cos 11.31 tan 20
o o
(
cos 20 + 11.31
o o (
) (
0.045 + 0.05625) sin 20 o + 11.31o )


sin(20 o + 2 X 11.31o ) 0.05
0.375 +
2
= 0.527 X (0.854 0.1315)
= 0.38
 Chapter-9

9.20

S = S1 + S2 0.01 S1 S2 = 2 + 2 0.01X2X2 = 3.96

N 2 D1 + t 100 S
=
N1 D2 + t 100

9.22

For Second Step:

R2 n2 160
= = or R2 = 1.778 r2
r2 N2 90
Also R2 + r2 = R1 + r1

9.23
For Second Step:

R2 n2 300
= = or R2 = 1.667 r2
r2 N 2 180

(R2 + r2 )+ ( R2 r2 )
2

= (R1 + r1 ) +
( R1 r1 )
2

C C

(1.667 r2 + r2 ) +
(1.667r2 r2 ) = (0.321 + 0.15) + (0.321 0.15)2
2

5 5
8.38r2 + 0.089r22 = 1.4855
r22 + 94.16 r2 = 16.69
r2 = 0.177 m
R2 = 0.177 X 1.667 = 0.295 m

9.27

Mass /m length = 0.3 X 0.012 X 1000 X 0.0011 = 3960 g = 3.96 kg

Maximum tension = 300 X 12 X2 = 7200 N
Tc = mv2
7200/3 = 3.96 x v2
9.28

Tc = mv2 = 1.6 X 202 = 640 N

Maximum safe stress = 9.5X750 = 7125 N
0.12 165
T1 X X
= e sin 20 180 = e1.01 = 2.747
o

T2
9.29

v = X 0.3 X120/60 =1.885 m/s

Power per rope = (T1 T2) v
10000/15 = (T1 T2) X 1.885
(T1 T2) = 1.415
0.25 165
T1 X X
=e sin 20o 180
= e 2.105 = 8.207
T2
T2 = 196 N
T1 = 196 X 8.0207 = 1611 N
To = (1611+196)/2 = 903.5 N

Tc = mv2 = (50X10-6) G2 X(1.885)2

T1 = 0.14 G2 - (50X10-6) G2 X(1.885)2 = 1611
0.1398 G2 = 1611
G2 = 11524
G = 107.3
D = 107.3
D = 34.2 mm

9.30
T1 380 X 9.81 0.22 X
= e or =e
T2 200
 Chapter-10

10.35

Cos = 0.94 or = 20o

2 X 0.88
(b) G =3, T = 39.55 or 42 (divisible by 3)
11
1 + + 2 sin 2 20 o 1
33
2 X 0.88
(c) With a rack, t = = 15.05 or 16
sin 2 20 o

10.37
Maximum arc of approach= Maximum path of approach/cos
= r sin /cos = r tan
In the limit, p = r tan
Number of teeth = 2 r/ p = 2 r/r tan = 2 /tan = 17.26 or 18

10.39

Use trial and error method.

10.41
= 2.8624 (= tan-1 0.05)
Unwrap one thread of the worm,
Lead 2p
tan 1 = = (for two-start worm)
Pitch circumferece d1
Helix angle 1 = 90 - 1
 Chapter-11

11.13
On solving,
Ts can be 13 or 14.
If Ts = 13, TA = 52 and thus TP = (52-13)/2 = 19.5, impracticable
If Ts = 14, TA = 56 and thus TP = (56-14)/2 = 21

TSNS = TaNa
Ta = 30 X 5 = 150 N.m
Fixing torque = 150 30 = 120 N.m

11.14

Refer Fig. 11.3,

There can be many combinations to obtain N1/N4 = 12. One may be
T1 = 12, T2 = 48, T3 = 15, T2 = 45
N T T
Thus 4 = 1 3 =1/12
N1 T2 T4

11.16

Action Arm a S P A
a` fixed, S + 1 rev. 0 1 TS TS TP 1
=
TP TP TA 4
a` fixed, S + x rev. 0 x TS 1
x x
TP 4
All given y rev. (add Y y+x TS 1
y) y x y x
TP 4

From given conditions,

1
(i) NA = y x = -600/4 = -150
4
NS = y + x = 400
y = =-40 and x = 440
Na = 40 rpm opposite to that of S
(ii) Na = 40 or y = 40
NS = y + x = 400 or x = 360
1
NA = y x = 40 360/4 = - 50 rpm
4
Thus speed of B = 50X4 = 200 rpm in the same direction as of S
11.17

Action Arm a 1 2 3
a` fixed, 1 + 1 rev. 0 1 80 80
81 79
a` fixed, 1 + x rev. 0 x 80 80
x x
81 79
All given y rev. (add y y+x 80 80
y) y+ x y+ x
81 79

1 is fixed, y+x = 0 ,
a is given 1 revolution, y =1
x = -1
80 80
Revolution of 2 = y+ x= 1+ (-1)= 1/81 in the same sense as 1.
81 81
80 80
Revolution of 3 = y+ x=1 + (-1) = -1/79 in the opposite sense of 1.
79 79

11.20

Action B C/S1 D/S2 E/F

B fixed, C + 1 rev. 0 1 -1 TC
TE
B fixed, C + x rev. 0 x -x TC
x
TE
Add y y y+x yx TC
x+ y
TE
(i)
revolution of S1 or C = 1 or y +x =1
revolution of S2 = revolution of S1 = 1 or y-x =1
on solving, y =1, x =0
Thus revolution of B = y = 1
Revolution of S or A = 1 X (2/1) = 2

Solution 11.21

Action a B/G C/D E/H F

a fixed , B+1 rev. 0 1 TB T T TB TC
B. D .
Tc TC TE TC TF
a fixed , B+ x rev. 0 x TB T T T
x B. Dx B x
Tc TC TE TF
 Add y y y+x TB TB TD TB
y+ x y . x y x
Tc TC TE TF

Let B is rotated through 1 revolution.

y + x =1
T
Gear F is stationary, y B x= 0
TF
TF TB
Solving, x= and y=
TB + TF TB + TF

TB TD TB T T TF
Speed of E = y . x= B. D
TC TE TB + TF TC TE TB + TF
TB TD TF
= 1 .
TB + TF TC TE
TD TF
If . <1, speed of E is positive or E rotates in the same direction as B
TC TE
T T
i.e. if C > . F
TD TE
T T
If D . F >1, speed of E is negative or E rotates in the opposite direction to B
TC TE
T T
i.e. if C < . F
TD TE
 Chapter-12

12.7
E 100 N

3 C

4
B

2
150 N

1
A D

F32
235
100 N

F23 loa F23 loa F43

F43

100

(a)

loa F34 F32

4 290
150 F14
loa F14

F34

150 N
(b)

(a) With only 100 N force,

T = F32 X 0.235 = 99 X 0.235 = 23.3 N.m clockwise
(b) With only 150 N force,
T = F32 X 0.29 = 64.5X 0.29 = 18.7 N.m counter-clockwise
Required input torque = 23.3 18.7 = 4.6 N.m clockwise

Solution 12.8

3
2

1500 N
1
F32

F34
1580

35 1500

F12

T = F32 X 0.235 = 1580 X 0.035= 55 N.m clockwise

Solution 12.9

500 N 500 N

C C
A 3 A

2 4
B
B

O 1
F43
142 500 N
F32
F23

T = F32 X 0.142 = 480 X 0.142= 68 N.m clockwise

Solution 12.10

5
3
6

4
loa F16
2

F56

1 F16

loa F54 F

loa F34
F34 F32

124

4 F14
loa 14
F54

T = F32 X 0.124 = 366 X 0.124 = 45.5 N.m clockwise

Solution 12.11
 3000 N

3000 N C
4 1000 N
C D 1000 N
6 D 6

loa F 14 3 loa F 16
loa F 34 5 loa F 56
1
O
A 2
B

O
3000 N
1000 N
3040 N 46.5 1013 N B
O F56 35.5 F
F34 A F16 52
F32
F14

(a) With only 1000 N force,

T = F52 X 0.355 = 1013 X 0.355 = 36 N.m counter-clockwise
(b) With only 3000 N force,
T = F32 X 0.0465 = 3046X 0.0465 = 142 N.m clockwise
Required input torque = 142 -36 = 106 N.m clockwise
 Chapter-13

13.14

Velocity and acceleration diagrams are given below:

C 4.4
a h c
B F
G' H
E G'' 8
G
5.7

f
A D e

a1,d1

g''1 b

c1

g1

g'1

b1

Calculate the forces and proceed.

F2 = m2fg2 = 3.2 X 40.1 = 128.3 N
F3 = m3fg3 = 4 X 79 = 316 N
F4 = m4fg4 = 3.2 X 45.5 = 145.6 N
13.15
For the centre of mass of link AB lies at A, its acceleration is zero and therefore,
no inertia force.
C

B
G'

A D

a1,d1

c
2.66
a,d 70.8 135.4
g'1
2.34

2.85 69.6
c1 g1
27.2 b1
27.4

b
13.16
2X 300
= = 10 rad/s
60

Effective force on the piston = 200 X 103 X X (0.8) 2 = 100 531 N
4

cos 2
Inertia force, Fb = mf = mr 2 cos +
n
2 cos 80
= 250 0.3 (10 ) cos 40 +
4
= 59 918 N
As it is a vertical engine, the weight of the reciprocating parts also acts downwards.
Effective driving force = 100 531 + 250 X9.81 59 918
= 43 066 N

13.17
(a)
I Q

P
Ft
P
Fr
Fi
H D
D A
Fb G d1
B
W L O
(mg)
b1 g1

(a)

2X 300
= = 10 rad/s
60
GD = k2/BG = 1802/335 = 96.7 mm

fa = 2r = (10 )2 0.1125 = 110 m/s2

Locate points b1 and g1 in the acceleration diagram to find the accelerations of points B
and G. Measure b1O and g1O. As length OA in the diagram represents the acceleration of
A relative to O.
fg = (10 )2 Og1= (10 )2 0.11= 108.56 rad/s2
Fi= m fg = 80 108.56 = 8685 N
Complete the diagram. Taking moments about I,
Ft 590 = 8685 X 152.4 + 80X 9.81 X 335
Ft = 2687 N.m
T = Ft r = 2687 X 0.1125 = 302.3 N.m
(b)

Ft

D A
G d1

B g1

L b1
O
Fi

Fr W
(mg)

I Q

13.19

Fb
P W
I B Q

Fi

G
L
O
D
b1
g1 A
 2X 1500
= = 157.1 rad/s
60

L 45 L
t = 2 or = 2 or L = 0.56 mm
g 30 9.81
k2
0.4 + = 0.56
0.4
k2 = 0.064
or k = 0.253 m
2
GD = k /BD = 0.064/ 0.4 =0.16 m

fa = 2r = (157.1)2 0.125 = 3085 m/s2

Locate points b1 and g1 in the acceleration diagram to find the accelerations of
points B and G. Measure b1O and g1O. As length OA in the diagram represents the
acceleration of A relative to O.
fb = (157.1)2 OB1= (157.1)2 0.088 = 2172 m/s2
Similarly, fg = (157.1)2 OG1= (157.1)2 0.108 = 2665 m/s2

Fb= mb fb = 1.2 2172 = 2606 N

Fi= m fg = 3 2665.4 = 7996 N
Complete the diagram. Taking moments about I,
Ft 79 = 2893.3 X 0.125 = 361.7 N.m
13.20

Time required to punch one hole = 1 s

Energy required/hole = 10 000 N.m
Energy supplied by the motor in 1 seconds = 2500 N.m
Energy supplied by the flywheel
e = Energy required/hole - Energy supplied by the motor in 1 s
= 10 000 2500 = 7500 N.m
Thus energy stored in the flywheel = 7500 N
7500
Thus time required to store this much energy in the flywheel = =3 s
2500
Total tome required by the motor to produce 10 000 N.m of energy or punch one hole
=1+3 =4s
Number of holes/hr = 3600/4 = 900

1 2 1 2
e= I1 I 2
2 2
1
(
= mk 2 12 22
2
)
1
(
7500 = X 125 X 0.7 2 25.12 22
2
)
 2= 19.62 rad/s or 187.3 rpm
Reduction in speed = 240 187.3 = 52.7 rpm

13.23

T = 1500 +250 sin 2 - (1500 +200 sin )

= 250 sin 2 - 200 sin
It is zero when
250 sin 2 - 200 sin = 0
or sin 2 - 0.8 sin =0
or 2 sin cos - 0.8 sin =0
or sin cos - 0.4 sin =0
or sin (cos - 0.4) =0
Either sin = 0 , = 0 or 180o
o

or cos = 0.4 or = 66.4o or 293.6o

The turning moment diagram is shown in the figure. Maximum fluctuation of
energy lies between C and D.

A
B C D E

0o 66.4 o 180 o 293.6 o 360 o

293.6o

(a)
E = (250 sin 2 200 sin )d
180o

= [ 125 cos 2 + 200 cos ]180o

293.6o

= 490 N.m

e
(b) K=
mk 2 2
490
= 2
2 200
300 (0.2 )
2

60
= 0.093 or 9.3%
Acceleration or deceleration is produced by excess or deficit torque than the mean value
at any instant.
For Tmax and Tmin,
 d
(T ) = d (250 sin 2 200 sin ) = 0
d d
or (500 sin 2 200 sin ) = 0
5cos 2 - 2 cos = 0
5(2 cos2 -1) 2 cos = 0
10 cos2 2 cos -5 = 0
On solving, cos = 0.814 or -0.614
or = 35.5o or 127.9o
Tmax = 250 sin 71o - 200 sin 35o = 120.2 N.m
T = mk2 = 583.1
or 120.2= 300 (0.2)2
or = 10.02 rad/s2 at 35.5o
Tmin = 250 sin 255.8 - 200 sin 127.9o = -400 N.m
o

or 400= 300 (0.2)2

or = 33.35 rad/s2 at 127.9o
 Chapter-14

14.15

700 C2(RP)

2
500

350
200

1 C1(RP)
100

lc2 = 350 mm
l2 = 200 mm
l3 = 500 mm
m1r1 = 3 30 = 90
m2r2l2 = 4 20 200 = 16 000 m2r2 = 4 20 = 80
m3r3l3 = 2 25 500 = 25 000 m3r3 = 2 25 = 50

(16 000 cos 120 + 25 000 cos 270)2

1/ 2

mc 2 rc 2lc 2 =
+ (16 000 sin 120 + 25 000 sin 270)
2

= [(-8000)2 + (-11144)2]1/2
or mc2 20 350 = 13718 mc 2 = 1.96 kg

11144
tan c 2 = = 1.393 c 2 = 54.32
8000

mc2 X rc2 = 1.96 X20 = 39.2

( )
1/ 2
90 cos 30 o + 80 cos 120 + 50 cos 270 + 39.2 cos 54.32 0 2
mc1rc1 =
(
+ 90 sin 30 o + 80 sin 120 + 50 sin 270 + 39.2 sin 54.32 0 2 )
= [(60.8)2 + (98.12)2]1/2
or mc1 20 = 113.74
 mc1 = 3.25 kg
98.12
tan c 2 = = 1.62
60.8
c 2 = 238.2

Solution 14.16

C2(RP)

480 3
360

240
2
0
80 8

C1(RP)
1

m1r1l1 = 9 100 (-80) = -72 000

m2r2l2 = 7 120 80 = 67 200
m3r3l3 = 8 140 240 = 268 800
m4r4l4 = 6 120 480 = 345 600

14.17
mbrb = 15 480 = 7200
mcrc = 25 240 = 6000
mdrd = 20 300 = 6000

mdrdld

mdrd
236 o
m cr c marala
mara mcrclc

mbrb

14.19
 5

1.2
0.96

2.16
3

1.92
0.96
1.2

2 RF
0.24
1

m1 = m5 = 390X0.4 = 156 kg
m3 = 450X 0.4 = 180 kg
m1r1l1 = 156 0.25 (- 0.24) = - 9.36
m3r3l3 = 180 0.25 0.96 = 43.2
m5r5l5 = 156 0.25 3.16 = 84.24
On measurement,
m4r4l4 = 82.77 or m4 = 82.77/(0.5X1.92) = 86.2 kg at 24o
Solution 14.21
m1 cos 142 cos 50 o
As = , since = = 0.71
m2 cos 200 cos 25o
Primary forces are balanced.
l1 tan 1.28 tan 50 o
As = , since = =2.56
l2 tan 0.5 tan 25o
Primary couples are balanced.
2X 200
= = 20.94 rad/s
60
2 r 2
Secondary forces = [m1 cos 2 + m2 cos 2 ]
n

=
2 X 0.4 X (20.94) 2
4
[142 cos 50 o + 200 cos 100 o ]
= 4959 N
 2 r 2
Secondary couples = [m1l1 sin 2 + m2l2 sin 2 ]
n

=
2 X 0.4 X (20.94) 2
4
[
142 X 1.28 sin 50 o + 200 X 0.5 sin 100 o ]
= 20 847 N.m
14.23
0o 1 0o 1
1
450 mm 162o
2
2 4
3
750 mm 134o
3 314 o
3
1
600 mm Couple polygon

120o 4 120o 3
4
2 162o

(a) Primary cranks

4
Force polygon

0o
1 1
324o
2 2

268o 3
3

240o
4

(b) Secondary cranks

Force polygon

2X 240
= =8 rad/s
60
n = 1200/300 = 4
Taking 2 as the reference plane,
Primary couples about the RF,
m1r1l1 = 400 X 0.3 X 0.45 = 54
m2r2l2 = 0
m3r3l3 = m2 X 0.3 X (-0.75) = - 0.225 m2
m4r4l4 = 400 X 0.3 X (-1.35) = - 162
The couple polygon is drawn in Fig. 14.24.
m3r3l3 of crank 3 from the diagram = 196.6 at 134o
 m3r3l3 = m3 X 0.225 = 197.5 or m3 = 878 kg
As its direction is to be negative, its direction is (134o + 180o) or 314o.

Primary force (mr) along each of outer cranks = 400 X0.3 = 120
Primary force (mr) along crank 3 = 878X 0.3 =263.4
The force polygon is drawn in Fig. 14.24.
m2r2 of crank 2 from the diagram = 256 At 162o
m2r2 = m2 X 0.3 = 256 or m2 = 853 kg
Its angular position is 162o.
Figure (b) represents the relative position of the cylinders and the cranks.
From secondary unbalanced force polygon, mr = 570
2 (8 ) 2
Maximum unbalanced force = 570 X = 570 X = 90 000 N
n 4

14.24

4
300

3
600

300

Taking plane 3 as the reference plane and 1 = 0o

m1r1l1 = 100 r (-0.6) = -60 r m1r1 = 100 r
m2r2l2 = 120 r (- 0.3) = -36 r m2r2 = 120 r
m4r4l4 = 100 X r X 0.3 = 30 r m4r4 = 100 r
 Chapter-15

15.13

T1 0.25195
= e = e 180
=2.342
T2
100X340 + 2.342 T2 X40 T2 X100 = 0
T2 = 5380 N
T1 = 12599 N
TB = (T1-T2) X r = (12599 5380) X 0.11 = 794 N.m
2
1 2 1 2N
KE of the flywheel = I = mk 2
2 2 60
2
1 2 340
= 300 (0.4 )
2

2 60
= 30 425 N.m Let the KE be used to overcome the work
done by the braking torque in n revolutions. Then
TB Angular displacement = KE of flywheel
794 2 n = 30 425
n = 6.1 rev.
15.16

For the leading shoe,

2 2
Fa Rnl c sin + Rnl (r c cos ) = 0
1 1

0.16 0.125 0.03 80 000 2 145 2 15
F 0.22 180 180
4
sin 290 + sin 30
F = 175.7 N
For the trailing shoe,
175.7 X 0.22 0.00015 XPnt (5.9775) 0.000384 XPnt (1.0769) = 0

Pnt = 29507 N/m2

15.17

40 000
u = 40 km/hr = = 11.111 m/s
3600
(i) On up plane:
tan = 1/16 ; = 3.576o ; cos = 0.9981
x
f = g cos + tan
l h
0.4 X 1.3 1
= 9.81X 0.9981 +
2.8 0.4 X 1 16
2
= 2.733 m/s
u2 11.1112
s= = = 22.5 m
2 f 2 X 2.733
 Chapter-16

Solution 16.18
Height of governor in 1st case = 640 cos 30o = 554.3 mm
Height of governor in 2nd case = 480 cos 30o + 80/tan 30o = 554.3 mm
Height of governor in 3rd case = 800 cos 30o - 80/tan 30o = 554.3 mm
As the height of governor in each case is the same, the speed of rotation of the
governor is the same.
(i) h = 554.3 50 = 504.3 mm
h 554.3
= = = 1.0484
h 504.3
Increase in speed = (1.0484- 1.0) 100 = 4.84%

(ii)
80

49.6o

480
h'
365.7

415.7

60o
50

= 49.6o

sin = (480 sin 60o 50)/480 =0.762; = 49.63o

h = 480 sin 49.63o + 80 tan 49.63o = 459.8 mm

h 554.3
= = = 1.098
h 459.8
Increase in speed = (1.098- 1.0) 100 = 9.8%
(iii)
 80

800

692.8
642.8
h'

= 53.5o

50
60o

sin = (800 sin 60o 50)/800 =0.8035; = 53.5o

o o
h = 800 sin 53.5 - 80 tan 53.5 = 534.8 mm
h 554.3
= = = 1.018
h 534.8
Increase in speed = (1.018- 1.0) 100 = 1.8%

16.21
895 a m + M
N2 = .
h e m
895 0.18 3 + 20
1502 = .
0.18 e 3
e = 0.305 m
Therefore, length of the extension links = e a = 305 180 = 125 mm
Let T be the tension in the upper arms.
Considering the vertical components of the forces on the lower link,
Mg
T cos = mg +
2
0.18
cos = = 0.818
0.22
20 X 9.81
T X 0.818 = 3 X 9.81 +
2
T = 155.9 N
Solution 16.22
2 275
1 = = 28.8 rad/s
60

a2 F2 F1
s = 2
b2 r2 r1
 0.12 1.5 X 0.11X 28.82 1.5 X 0.07 X 27.232
=2
0.04 2 0.11 0.07
=18.75 X 903.4
= 18 440 N/m or 18.44 N/mm
When radius is 80 mm
a2 F2 F1
s = 2 2
b r r
2 1
16.23
2
F2 F1 S b y
= 4s + a
r2 r1 2 a x
When r2 = 160 mm, N1 = 220 rpm
220 2
2 = = 23.04 rad/s
60
F2 = mr2 22 = 2.5 0.16 (23.04)2 = 212.3 N
210 2
1 = = 22 rad/s
60
F1 = mr112 = 2.5 0.12 (22)2 = 145.2 N
Combined stiffness = 300 N/m
Stiffness of each spring = 300/2 = 150 N/m
2
169.87 116.6 S 120 y
= 4 X 150 + a
0.16 0.12 2 160 x
2
y
1678 = 600 + 0.28125 S a
x
2
y
S a = 3833 N/m or 3.838 N/mm (Refer Eq. (16.9)]
x
Sa = 11 219 N/m or 11.219 N/mm

16.25
f 10
Coefficient of insensitiveness = = = 0.044
(m + M ) g (5 + 18) X 9.81
 Chapter-17

Solution 17.11
I = mk2 = 80 (0.3)2 = 7.2 kg.m2

o a

300 450

C = I p
Mgl = I p
80 9.81 0.3 = 7.2 100 p
p = 0.327 rad/s
When the cord supporting the right hand cord breaks, the weight due to 80 kg
mass of the disc applies a clockwise torque about an horizontal axis perpendicular to the
shaft axis (y-axis). Assuming that the disc precesses counter-clockwise about z-axis when
viewed from top, the vector oa rotates to the position ob horizontally. This provides the
active gyroscopic couple or applied torque clockwise about the y-axis which is true.
Thus when the cord breaks, the shaft precesses counter-clockwise when viewed from top.

17.17

v 100 1000
= = = 30.86 rad/s
r 3600 X (1.8 / 2)
Amplitude, A= 5/2 = 2.5 mm
= Amplitude/Distance between wheel centres = 0.0025/1.6 rad
0.0025 2
p = 0 = X =0.0818 rad/s
1.6 0.12
C = I p = 200 30.86 0.0818 = 505 N.m
505
Reaction between wheels and rail = = 315.6 N
1.6
 Chapter-18
18.30

T T
a l-a
2 x
1

Vertical component of tension T

x x 1 1 l
= T cos 1 +T cos 2 = T +T = Tx + = T x
a la a l a a (l a )
1 2
KE = mx&
2
PE = Mean force X displacement
1 l Tl
= T x .x = x2
2 a(l a ) 2a (l a )
d
Now, ( KE + PE ) = 0
dt
Tl
mx&&x& + xx& =0
a(l a )
Tl
&x& + x =0
m(l a )a
1 Tl
Thus fn =
2 m(l a )a

18.31
1 s
As fn =
2 m
If frequency is to be halved, the stiffness must be reduced to one fourth.
Let the stiffness of the second spring be x times s.
The combined stiffness s will be
 1 1 1
= +
s ' s xs
1 s ( x + 1)
=
s/4 xs 2
x +1
4=
x
x =1/3

18.32

1 s 1 s
3.56 = and 2.9 =
2 m 2 m+5

18.36
1 2 1 2
mv = sx
2 2
1 1
X 300 Xv 2 = X 250 000 X 0.8 2
2 2
v = 23.1 m/s
18.38
g 9.81
n = = = 35 rad/s
0.008
1=2 X1500/60 = 157.1 rad/s
2=2 X2500/60 = 261.1 rad/s
1
= 2
= 0.0522
157.1
1
35

18.41

bd 3 0.022 X 0.0453
(i) I= = = 0.167 X 10 6 mm4
12 12
180 X 9.81X 0.83
1 = = 0.000451 m
48 X 250 X 109 X 0.167 X 10 6
0.4985
f n1 = = 23.5 Hz
0.000451
(ii) Due to central load, fn1 = 23.5 Hz
due to distributed load,
 5 X 180 X 9.81X 0.83
s = = 0.000282 m
384 X 250 X 109 X 0.167 X 10 6
0.5614
f n1 = = 33.44 Hz
0.000282
By Dunkerleys equation,
1 1 1
2
= 2 + 2
fn f n1 f ns
f n21 f n22 23.52 X 33.44 2
f n2 = = = 19.2 Hz
f n21 + f n21 23.5 2 + 33.44 2
Solution 18.42

I= (D4 d 4 ) = (0.084 0.054 ) = 1.704 10 6 m4
64 64
We have,
0.4985
fn =

1 + 2 + 3 + .... + s
1.27

mga 2 b 2
1 =
3EIl
Here m = 60 kg, a = 0.9 m and b = 0.9 m.

60 9.81 (0.9 )
4
1 = = 0.0002 m
3 210 109 1.704 10 6 1.8
For 2, m = 60 kg, a = 1.35 m, b = 0.45 m

60 9.81 (1.35) (0.45)

2 2
1 = = 0.0001126 m
3 210 109 1.704 10 6 1.8

5 22.97 9.81 (1.8)

4
5mgl 4
s = = = 0.000086 m
384 El 384 210 10 9 1.704 10 6
0.4985
fn = = 25.56 Hz
0.000086
0.0002 + 0.0001126 +
1.27
Thus whirling speed = 25.56X60 = 1534 rpm
Solution 18.43
 r g
fn =
2 lk 2
s 1 0.8 1
where r = o
= = 0.462 m
2 cos 30 2 cos 30 o
l=2m
s 0.8
and k= = = 0.231m
12 12
18.44

Replacing the three equal rotors of the cylinders by a single rotor at the centre of their
combined mass,
Distance of this rotor from the engine flywheel = (500 + 400) = 900 mm and the
moment of inertia 25 X 3 = 75 kg.m2.
Assuming the whole shaft to be replaced by a torsionally equivalent shaft of 150
mm diameter,
1 GJ
f n1 =
2 I a la

1
84 10 9 (0.15)4
50 = 32
2 75 Xla
la = 0.564 m
Ia la = Ib lb
75 X 0.564= 120 lb or lb = 0.353 m

1 1 1 1
Also, = +
I a la I c l1 la l2 la

18.46
4 4 4
150 150 150
l = 300 + 400 + 100 + 260
100 190 130
= 2824.7 mm
Ia la = Ib lb = Ib (l - la)
75 X la = 50 ( 2824.7 - la)
la = 1130 mm
 Chapter-19

19.12

For 40% overshoot,

1 2
0.4 = e
19.13
1 2
tan 1

The rise time, Tr =
1 n 2

The settling time,

1 1
ts = ln
n e 1 2
19.14
s 2240
n = = = 211.66 rad/s
m 0.05
(i) For a unit ramp input and for critical damping,
2 2X1
Steady state error = = = 0.00945
n 211.66