Theory of Machines-Lecture No.1 & 2

MtE323: Theory of Machines
Dr. Kamran Shah KakaKhel

Department of Mechatronics Engineering
Kamran.Shah@uetpeshawar.edu.pk
Grading Scheme
Activity Comments Weightage

Mid-term Exam TBA 30%
Quizzes No make-up quizzes 10%
Home Works No late homework 05%
Project (s) To be assigned at due time 05%
Final Exam TBA 50%
TOTAL 100%
2
Course Policies
a)Communication: Check your E-mails

frequently for announcements, handouts,
solutions, and other downloads.
b)Attendance: Class attendance is

imperative.
c) Quiz format: There shall be many quizzes
throughout the semester. Also, keep in mind
that quizzes may be announced or
unannounced!
3
Course Policies-continued
e)Neatness of Work: success in engineering requires a
clear thought process and well-organized problem solving.
Your grade will suffer if your assignments are difficult to grade
due to sloppiness, scribbles, cross-outs, and an otherwise
disorganized and difficult-to-follow solution.
f) Emergency Circumstances: If necessary, you can

an email to me.
g)Cell Phones: Please turn off your cell phone/ electronic

devices while in class/test.
h)Consultation: I am available during posted office hours,

and you can make an appointment with me via email if you
cannot attend office hours. 4
Course Policies-continued
e)Course Project (s): The course project(s) is

going to engage you in the creation of learning
materials to share with your peers. Details will be
forthcoming, but in the past this project format has
been a great success and very popular with students.
f) University Holidays. Please check UET
announcements regarding holidays.
e)Drop and Withdrawal. Check the UET

announcements regarding the last day of dropping
or withdrawing the course.
5
Grading Policy
• Grades are reported according to the
following UET standard grading system:
Grade GPA
A 4
A- 3.67
B+ 3.33
B 3
B- 2.67
C+ 2.33
C 2
C- 1.67
D+ 1.33
D 1
F 0
6
Course Description
In this course we will cover various topics including
• Kinematics fundamentals
• Degrees of freedom
• Different types of mechanisms, their
characteristics & applications
• Position, velocity and acceleration analysis
• Dynamic force analysis
• Static and dynamic balancing
• Cam and gear (gear trains) design.
Recommended books
I. Design Of Machinery By R. Norton, McGraw Hill Latest

Edition.
II. Machines and Mechanisms: Applied Kinematic
Analysis, 4/e David Myszka
III. Theory Of Machines And Mechanisms By Joesph E.
Shigley And John Joesph Uicker, McGraw Hill, Latest
Edition.
IV. An Introduction To Synthesis And Analysis Of
Mechanisms And Machines By McGraw Hill Series In
Mechanical Engineering, Latest Edition.
V. Mechanisms And Dynamics Of Machinery By
Hamilton H Mabie, John Wiley Latest Edition.
8
Terminologies
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.
Kinematics of mechanisms is concerned with the motion of the parts without

considering how the influencing factors (force and mass) affect the motion.
More particularly, kinematics is the study of position, displacement, rotation, speed,

velocity, and acceleration.
Dr. Kamran Shah Kakakhel. University of Engineering & Technology Peshawar. Department of Mechatronics Engineering
Kinetics: deals with action of forces on bodies. This is where the effects of
gravity come into play.
Dynamics is the combination of kinematics and kinetics.

Dynamics of mechanisms concerns the forces that act on the parts -- both
balanced and unbalanced forces, taking into account the masses and
accelerations of the parts as well as the external forces
A mechanism: is a device that transforms motion to some desirable

pattern and typically develops very low forces and transmits little power.
A machine: typically contains mechanisms that are designed to provide

significant forces and transmit significant power.
.
Application of Kinematics
Any machine or device that moves contains one or more kinematic elements
such
As linkages, … gears…. belts and chains.
Bicycle is a simple example of a kinematic system that contains a chain drive to

provide Torque.
An Automobile contains many more
examples of kin-systems…
the transmission is full of gears….
Mechanisms
• A combination of rigid bodies, formed and
connected so that they move with definite
relative motions with respect to one another
• A kinematic chain in which at least one link

has been grounded, or attached to a frame of
reference
Machines and Mechanisms
• The similarity between machines and
mechanisms is that
–They are both combinations of rigid bodies
–The relative motion among the rigid bodies are
definite
Structure
• Combination of resisting bodies, connected by joints, but its purpose is not to do work or to
transform motion.
Links
• Links – building blocks
• Node – attachment points
–Binary link – two nodes
–Ternary link – three nodes
–Quaternary link – four nodes
Link Classification
• Ground – fixed w.r.t. reference frame
• Crank – pivoted to ground, makes complete
revolution
• Rocker – pivoted to ground, has oscillatory
motion
• Coupler - link has complex motion, not
attached to ground
Coupler?
Degrees of Freedom (DOF) or
Mobility
• DOF: Number of independent parameters
(measurements) needed to uniquely define
position of a system in space at any instant of
time.
• A mechanical system’s mobility (M) can be
classified according to the number of degrees
of freedom (DOF).
• DOF is defined with respect to a selected frame
of reference (ground).
13
Dr. Kamran Shah Kakakhel. University of Engineering & Technology Peshawar. Department of Mechatronics Engineering . © Fall 2016
➢ Rigid body in a plane has 3 DOF: x, y, θ
➢ Rigid body in 3D-space has 6 DOF, 3 translations
& 3 rotations three lengths (x, y, z), plus three
angles (θ, φ, ρ).
➢ The pencil in these examples represents a rigid
body, or link.
14
Dr. Kamran Shah Kakakhel. University of Engineering & Technology Peshawar. Department of Mechatronics Engineering . © Fall 2016
Types of Motion
• Pure rotation: the body possesses one point (center
of rotation) that has no motion with respect to the
“stationary” frame of reference. All other points
move in circular arcs.
• Pure translation: all points on the body describe
parallel (curvilinear or rectilinear) paths.
• Complex motion: a simultaneous combination of
rotation and translation.
Degrees of Freedom Cont.
3 Degrees of Freedom (x, y, q)
1 Degree of Freedom (q)

lower pair subtracts 2 degrees of freedom
1 Degree of Freedom (x)

lower pair subtracts 2 degrees of freedom
2 Degrees of Freedom (x, q)

sliding contact subtracts 1 degree of freedom
0 Degrees of Freedom
fixed to ground subtracts 3 degrees of freedom
Degrees of Freedom Cont.
Different values of DOF mean different things.
DOF = 0 Structure
DOF < 0 Statically indeterminate structure
DOF  1 Mobility is allowed
Planar and Spatial
Mechanisms
• In a planar mechanisms, all of the relative motions of
the rigid bodies are in one plane or in parallel planes
– Motion of such mechanism is called Coplanar
• If there is any relative motion that is not in the same
plane or in parallel planes, the mechanism is called the
spatial mechanism.
• In other words, planar mechanisms are essentially two

dimensional while spatial mechanisms are three
dimensional.
Joint : connection between two or
more links (at their nodes) which
allows motion
• Full joint, lower pairs - Single degree of
freedom
• Half joint, higher pair - Two degrees of
freedom
Full Joint/ lower pair Examples
• Pin joint allows 1 DOF
• Linear slider
• Threaded nut
• Tire on dry ground
Half Joint / higher pair Examples
• Collar on rod
• Tire on ice - friction determines the DOF
• Note: The order of a joint is the number of
links joined minus one
Slippage Occurs
Joint Classification:
Identify
Full Joint &
Half Joint
• Joint order = number of links-1
 Higher-order joint (half joint)
 Allow rotation and sliding
 Cam joint
 Gear connection
 Simple link
 A rigid body contains only two joints
 Crank
 Rocker
 Complex link
 A rigid body contains more than two
joints
 Rocker arm
 Bellcrank
 Point of interest
 Actuator
31
Machines and Mechanisms: Applied Kinematic

Analysis, 4/e
David Myszka
Kinematic Diagram
Simple Link
Simple Link
(with point of
interest)
Complex Link
Pin Joint

Analysis, 4/e 32
David Myszka
Kinematic Diagram
Slider Joint
Translation Joint
Cam Joint
Gear Joint
33

Analysis, 4/e
David Myszka
Analysis, 4/e
34
David Myszka
Analysis, 4/e
David Myszka
35
36

Analysis, 4/e
David Myszka
Any Questions?
37

Theory of Machines-Lecture No.1 &amp; 2

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Theory of Machines-Lecture No.1 &amp; 2

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MtE323: Theory of Machines

Dr. Kamran Shah KakaKhel

Activity Comments Weightage

a)Communication: Check your E-mails

b)Attendance: Class attendance is

f) Emergency Circumstances: If necessary, you can

g)Cell Phones: Please turn off your cell phone/ electronic

h)Consultation: I am available during posted office hours,

e)Course Project (s): The course project(s) is

e)Drop and Withdrawal. Check the UET

I. Design Of Machinery By R. Norton, McGraw Hill Latest

Kinematics of mechanisms is concerned with the motion of the parts without

More particularly, kinematics is the study of position, displacement, rotation, speed,

Dynamics is the combination of kinematics and kinetics.

A mechanism: is a device that transforms motion to some desirable

A machine: typically contains mechanisms that are designed to provide

Bicycle is a simple example of a kinematic system that contains a chain drive to

the transmission is full of gears….

• A kinematic chain in which at least one link

1 Degree of Freedom (q)

1 Degree of Freedom (x)

2 Degrees of Freedom (x, q)

• In other words, planar mechanisms are essentially two

• Joint order = number of links-1

Machines and Mechanisms: Applied Kinematic

Machines and Mechanisms: Applied Kinematic

Machines and Mechanisms: Applied Kinematic

Machines and Mechanisms: Applied Kinematic

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