KINEMATIC S OF MACHINES (SUBJECT CODE : SMEX 1003)

UNIT- I : BASICS OF MECHANISMS

1) Define Machine ?
A machine is an apparatus for applying mechanical power consisting
of a number of interrelated parts, each having a definite function.
A machine consists of so many links.
2) Define Kinematics?
It is a branch of theory of machines, which deals with relative motion
between the machine parts.
3) Define Dynamics of machines?
It deals with the relative motion between the parts by considering
forces.
4) Write
i)
ii)
iii)
iv)

equation of motion?
V = u + at
S = ut + 1/2at2
V2 = u2 + 2as
S = (u+v) x t
2

Where, u = Initial velocity in m/s

v = Final velocity in m/s
s = Distance travelled or moved in m

5) Define Kinematic link (or) element ?

Each part of the machine which moves relative to one another is
known as Kinematic link (or) element.
6) What are the types of links ? (or) How links are classified ?
i)
Rigid link
ii)
Flexible link
iii)
Fluid link
7) Define Rigid link ?
When the link does not have any deformation while transmitting
motion is known as rigid link. (ex:) Connecting rod in an IC engine.

8) Define Flexible link ?

When the link have partial deformation while transmitting the
motion, such link is known as Flexible link. (ex:) Belt & Rope drive.
9) Define Fluid link ?
The fluid is used to transmitting the motion by means of pressure or
compression is known as Fluid link. (ex:) Power press, Hydraulic press,
etc.
10)

Define Structure ?
Number of assemblage of rigid bodies do not have relative motion
between them is known as Structure.

11)

Write the difference between Machine and Structure ?

MACHINE
STRUCTURE
i) Machine has relative motion
i) Structure does not have
any relative
motion
ii) Machine can transmit / convert
ii) Structure can transmit
load / force
energy

12)

Define Kinematic pair ?

Two links or elements of a machine connected together when in
contact with each other are said to be pair. The relative motion
between the pair is known as Kinematic pair.

13)

Classify Kinematic pair ?

i)According to type of relative motion,
a) Sliding pair
b) Rolling pair
c) Turning pair
d) Screw pair
e) Spherical pair
ii) According to contact,
a) Lower pair (surface contact)
b) Higher pair (point contact)
iii)According to closure,
a) Self

14)

Define Kinematic chain ?

When the Kinematic pairs are coupled such a way that the last
link and first link are connected together to transmit motion is known
as Kinematic chain.

15)

Define Mechanism ?

If one of the links of a Kinematic chain is fixed, then the chain is

known as mechanism. If a mechanism uses four links, then it is known
as Simple mechanism and if the mechanism uses more than four links,
then it is known as Compound mechanism. If the mechanism is used to
transmit power or to do work, then it is known as Machine.

16)

Define Degrees of freedom / Define Kutzbach criterion?

It is defined as the number of input parameters which must be
independently controlled to bring the useful engineering purpose.

n = 3 (l 1) 2j
-h
This equation is also known as Kutzbach criterion
where, n = No. of degrees of freedom
l = No. of lines
j = No. of joints (or) lower pairs
h = No. of higher pairs.

17)

What is higher pair?

When the two elements of pair have a line or point contact when
relative motion takes place and the motion between the two elements
is partly turning and partly sliding, the pair is known as higher pair.

18)

Name any four inversions of a single slider crank chain?

The four inversions of a single slider crank chain are :

i) Pendulum pump
ii) Oscillating cylinder engine
iii) Rotary internal combustion engine
iv) Whitworth quick return motion mechanism
19)

Write any three inversions of double slider crank chain?

i)Elliptical trammel
ii) Scotch yoke mechanism
iii)Oldhams coupling

20)

What is an inversion (or) Inversion of mechanism?

Method of obtaining different mechanisms by fixing different links
in the Kinematic chain is known as inversion of mechanism.

21)

Name few applications of a four bar chain?

Few applications of a four bar chain are :
i)Beam Engine
ii) Coupling rod of a locomotive
iii)Watts indicator mechanism.

22)

What is the purpose of Scotch-Yoke mechanism?

Scotch-yoke mechanism is used for converting rotary motion in to
a reciprocation motion.

23)

What is meant by lower pair?

When two elements of a pair have a surface contact when
relative motion takes place and the surface of one element slides over
the surface of the other, the pair is known as lower pair.

24)

List the types of joints in a chain?

Types of joints in a chain are :
i)Binary joint
ii)Ternary joint
iii)Quarternary joint.

25)

Discuss the application of Oldhams coupling?

An Oldhams coupling is used for connecting two parallel shafts
whose axes are at a small distance apart. The shafts are coupled in
such a way that if one shaft rotates, the other will
--- &&& ----

UNIT- II : KINEMATICS OF LINKAGE MECHANISMS

1) Write down the expression for Coriolis component of acceleration
defining each of terms in the expression ?
Coriolis component of acceleration ac = 2wV
Where, w = Angular velocity of the link
V = Velocity of slider with respect to coincident point.
2) When Coriolis component of acceleration is brought into play in a
mechanism?
When a point on one link is sliding along another rotating link such
as in quick return motion mechanism, then Coriolis component of
acceleration is brought in to play in a mechanism.
3) Explain Kliens construction?
Kliens construction is the graphical method of determining the
velocity and acceleration of the reciprocating parts of the steam
engine or internal combustion engine. It is used for determining the
acceleration of the piston when the crank rotation is uniform (or) nonuniform.
In Kliens construction, velocity diagram is tilted by 90O and
acceleration diagram is tilted by 180O.

4) Write down the expression for velocity and acceleration of the piston
of a reciprocating engine?
Velocity of the piston = wr [sintheta + sin2theta]
2n
2
Acceleration of the piston = w r [costheta + cos2theta]
n
.
--- &&& ---UNIT- III : KINEMATICS OF CAM MECHANISMS
1) Define a Cam?
A Cam is a rotating machine element which gives reciprocating or
oscillating motion to another element known as follower. The Cam and
follower have a line contact and constitute a higher pairs. The Cams
are usually rotated at uniform speed by a shaft, but the follower

motion is pre-determined and will be according to the shape of the

Cam.
2) Give an expression for maximum velocity and maximum acceleration
of a follower moving with Simple Harmonic Motion?
Maximum velocity of the follower on the outstroke
VO = pi x w x s
2 x thetaO
Maximum velocity of the follower on the return stroke
VR = pi x w x s
2 x thetaR
Maximum acceleration of the follower on the return stroke

aR = pi2 x w2 x s
2 x theta2R
Where, S = Stroke of the follower
thetaO and thetaR = Angular displacement of the Cam during
outstroke and return
stroke of the follower in radians.

3) How are Cams classified?

Cams are classified as,
i) Radial or disc Cam
ii) Cylindrical Cam
4) Name few applications of Cam drive?
Cam drives are widely used for operating the inlet and exhaust
valves of Internal combustion engines, Automatic machineries, Paper
cutting machines, Spinning and Textile machineries, Feed mechanism
of automatic lathes.
5) Classify various types of Cams?
Various types of Cams are,
i)Plate Cam or radial Cam
ii)Wedge Cam
iii)A cylindrical Cam or Barrel Cam
iv)End or Face Cam.

6) Explain the term lift in Cams?

Lift in the maximum travel of the follower from its lowest position
to the top most position.
7) What are the different motions of a follower?
The different motions of a follower are,
i)Uniform motion
ii)Simple harmonic motion
iii) Uniform acceleration and retardation
8) What is Prime circle?
It is smallest circle that can be drawn from the centre of the Cam
and tangent to the pitch curve. For a knife edge and a flat face
follower, the prime circle and the base circle are identical. For a roller
follower, the prime circle is larger than the base circle by the radius of
the roller.
9) Define Dwell period?
The period during which the follower remains at rest is called
Dwell period.

10)

Classify Followers?
i)According to type of contact.
a) Knife edge follower
b) Flat face follower
c) Roller follower
d) Spherical follower
ii)According to type of motion.
a) Reciprocating or translating follower
b) Oscillating or rotating follower
iii)According to path of motion.
a) Radial
b) Offset.

UNIT- IV : GEARS AND GEAR TRAINS

1) Define module of a gear?
It is the ratio of pitch circle diameter to the number of teeth.

2) What are the reasons for choosing cast iron for the manufacturing of
gears?
The Cast iron is widely used for the manufacture of gears due to its
good wearing properties, excellent machinability and ease of
producing complicated shapes by casting methods.
3) What is an Epicyclic gear train?
Gear trains arranged in such a manner that one or more of their
members move upon and around another member are known as
Epicyclic gear trains. (Epi means upon and Cyclic means around.)
4) Name the various gear trains?
The various gear trains are,
i)Simple gear train
ii)Compound gear train
iii)Reverted gear train
iv)Epicyclic gear train.
5) Define pitch point of a gear set?
It is a common point of contact between two pitch circles.
6) Name the two methods used to solve the problems on Epicyclic gear
trains?
i)Tabular method and
ii)Algebraic method.
7) Define arc of contact?
It is the path traced by a point on the pitch circle from the
beginning to the end of engagement of a given pair of teeth is known
as arc of contact.
8) State the law of gearing?
The common normal at the point of contact between a pair of
teeth must always pass through the pitch point.
9) State the conditions of correct gearing?
The common normal at the points of contact between a pair of
teeth must always pass through the pitch point. This is the
fundamental condition which must be satisfied for correct gearing.
10)

Distinguish between diametrical pitch and circular pitch?

Diametrical pitch is the ratio of number of teeth, to the pitch circle
diameter, whereas circular pitch is the distance measured on the
circumference of the pitch circle from a point on one teeth to the
corresponding point on the next tooth.

11)

Describe the application for the Epicyclic gear trains?

The Epicyclic gear trains are useful for transmitting high velocity
ratios with gears of moderate sizes in a comparatively lesser space.
The epicyclic gear trains are used in the back gear of lathe, differential
gears of the automobiles, hoists, pulley blocks, wrist watches, etc.

12)

Classify gears?
According to the position of the arcs:
i)Parallel
ii)Intersecting
iii)Non-intersecting and non-parallel
According to the pheripheral velocity of the gears:
i)Low velocity
ii)Medium velocity
iii)High velocity.
According to the type of gearing:
i)External gearing
ii)Internal gearing
iii)Rack and pinion.

13)

What are known as Mitres?

When equal bevel gears connect two shafts whose axes are
mutually perpendicular, then the bevel gears are known as Mitres.

14)

What is working depth?

It is the radial distance from the addendum circle to the clearance

15)

Explain briefly about external gearing?

In external gearing, the gears of two shafts mesh externally with
each other. The larger of the two wheels is called Spur wheel and the
smaller wheel is called pinion. In an external gearing, the motion of
the two wheels is always unlike.

16)

Explain briefly about internal gearing?

In internal gearing, the gears of two shafts mesh internally with
each other. The larger of the two wheels is called annular wheel and
the smaller wheel is called pinion. In an internal gearing, the motion of
the two wheels is in the same direction.

17)

What is backlash?
It is the distance between the tooth space and tooth thickness as
measured along the pitch circle. Theoritically, the backlash should be

zero, but in actual practice some backlash must be allowed to prevent

jamming of the teeth due to tooth errors and thermal expansion.
18)

Name the two types of teeth commonly used?

i)Cycloidal teeth
ii)Involute teeth

19)

What is addendum and dedundum?

Addendum:
It is the radial distance of a tooth from the pitch circle to the
top of the tooth.
Dedundum:
It is the radial distance of a tooth from the pitch circle to the
bottom of the tooth.

20)

What is addendum circle and dedundum circle?

Addendum circle:
It is the circle drawn through the top of the teeth and is
concentric with the pitch circle.
Dedundum circle:
It is the circle drawn through the bottom of the teeth. It is also
called root circle.

21)

Define tooth thickness and face width?

Tooth thickness:
It is the width of the tooth measured along the pitch circle.
Face width:
It is the width of the gear tooth measured parallel to its axis.

22)

What is gear train?

Two or more gears are made to mesh with each other to transmit
power from one shaft to another. Such a combination is called gear
train.

23)
How epicyclic gear train differs from the other types of gear
train?
In epicyclic gear trains, the axes of the shafts on which the gears
are mounted may move relative to a fixed axis. But in other types, the
axes of the shafts over which the gears are mounted are fixed relative
to each other.

UNIT- V : FRICTION

1) What are the types of friction clutches?

i)Disc clutches
ii)Centrifugal clutches
iii)Cone clutches
2) What are the four commonly used belt materials?
i)Leather belt
ii)Rubber belt
iii)Cotton (or) Fabric belts
iv)Balata belts
3) What are the commonly used types of brakes?
i)Hydraulic brakes
ii)Electric brakes
iii)Mechanical brakes. Its subdivided into two more types, they are
radial brakes and axial brakes.
4) What is dynamic friction?
Dynamic friction is the friction experienced by a body when it is in
motion. It is of three types,
a)Sliding friction
b)Rolling friction
c)Pivot friction
5) What is creep in belts?
When the belt passes from the slack side to the tight side, a
certain portion of the belt extends and it contracts again when the belt
passes from the tight side to slack side. Due to these changes of
length, there is a relative motion between the belt and the pulley
surfaces. This relative motion is termed as creep.
6) Name the commonly used friction lining in automobiles?
The commonly used friction lining in automobiles are copper and
aluminium rivets, asbestos, fibres, brass wires, cork, graphite powder,
metallic wires and vegetable gums.
7) Mention any two advantages of V-belt drive over flat belt drive?
i)The V-belt drive gives compactness due to the small distance
between the centres of pulleys.
ii)The drive is positive, because the slip between the belt and
pulley grove is negligible.
8) What are the advantages of multiple plate clutch?

Multiple plate clutches may be used when a large torque is to be

transmitted. The multiple plate clutches are extensively used in motor
cars, machine tools, etc.
9) Mention the applications of rope drive?
The rope drives are widely used, where a large amount of power
to be transmitted from one pulley to the another over a considerable
distance. They are used in spinning mills, the line shaft on each floor is
driven by ropes passing directly from the main engine pulley on the
ground floor.
10)

What is the purpose of gravity idler in a short central belt drive?

Gravity idler is used in shafts arranged parallel and when an open
belt drive cannot be used due to small angle of contact on the smaller
pulley. This type of drive is provided to obtain high velocity ratio and
when the required belt tension cannot be obtained by other means.
When it is desired to transmit motion from one shaft to several shafts,
all are arranged in parallel and a belt drive with many idler pulleys
may be employed.

11)

What is initial tension in belt?

When a belt is wound round the two pulleys i.e. driver and
follower, its two ends are joined together, so that the belt may
continuously move over the pulleys. The motion of the belt from the
driver and the follower is governed by a firm grip due to friction
between belt and the pulleys. In order to increase this grip, the belt is
tightened up. At this stage, even when the pulleys are stationary, the
belt is subjected to some tension is called initial tension.

12)

Name the disadvantages of V-belts?

i)The construction of pulleys for V-belt is more complicated than
pulleys for flat belts.
ii)Since the V-belts are subjected to certain amount of creep,
therefore these are not suitable for constant speed application such as
synchronous machines and timing devices.
iii)The belt life is greatly influenced with temperature changes,
improper belt tension and mismatching of belt lengths.

13)

Define co-efficient of friction?

It is defined as the ratio of the limiting friction to the normal
reaction between two bodies.

14)

Define limiting force of friction?

The maximum value of friction force which comes into play when a
body just begins to slide over the surface of the other body is known
as limiting force of friction.

15)

What is a brake?
A brake is a device by means of which artificial resistance is
applied to a moving machine member in order to retard (or) stop the
motion of the machine. The kinetic energy absorbed by brakes is
dissipated in the form of heat.