University of zakho

College of engineering
Mechanical department

Ex.No(2)
The slider-crank and scotch-yoke
mechanism

Name: Mamo Muhemmad Sharif Alomar

Group: A

Stage: Third

Date of experiment: 24/2/2019

Date of submitting: 31/3/2019

Table of contents
1
Subject page

Introduction ……………………………………………. 3

Purpose…………………………………………………… 3

Apparatus……………………………………………….. 3

Theory……………………………………………………. 4

Procedure………………………………………. .……… 6

Calculation…………………………………………………7

Discussion…………………………………………….... 11

Reference……………………………………………….. 11

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2.1 Introduction:

A slider-crank linkage is a four-link mechanism with three revolute joints and one
prismatic, or sliding, joint. The rotation of the crankdrives the linear movement the slider,
or the expansion of gases against a sliding piston in a cylinder can drive the rotation of
the crank.

The Scotch yoke (also known as slotted link mechanism) is a reciprocating

motion mechanism, converting the linear motion of a slider into rotational motion, or vice
versa. The piston or other reciprocating part is directly coupled to a sliding yoke with a
slot that engages a pin on the rotating part.

2.2 Objective
To determine the velocity and acceleration for the Slider crank anal Scotch Yoke mechanisms.

2.3 Apparatus
 Crank
 Connecting rod
 Piston
 Cylinder

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2.4 Theory

M
otion of a crank and connecting rod of a reciprocating steam engine.
Let:
l = Length of connecting rod between the centres,
r = Radius of crank or crank pin circle,
φ = Inclination of connecting rod to the line of stroke PO, and
n = Ratio of length of connecting rod to the radius of crank = l/r.

Velocity of the piston

From the geometry shown in the previous Figure.
X = P′P=OP′−OP=(P′C′+C′O)−(PQ+QO)
= (l+r)−(lcosφ+rcosθ)

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The slider crank and scotch -Yoke showing the mechanism of movement crank and piston,
figure (1,2).

The only difference is in link 3 which is replaceable depending on the type of mechanism
required. It is important to study the Kinematic and dynamic response of the mechanism
because of practical applications. It is also useful in determining the Kinematic equivalents of
other mechanisms. While the motion of a Scotch-yoke mechanism is purely sinusoidal, that of
the Slider-crank mechanism is not. The derivation of the equations used for describing the
Kinematic motions (displacement, velocity and acceleration) of a simple Slider-crank
mechanism can be seen on most mechanism text books. The final equation describing the
displacement may be written

The velocity and acceleration can also be described by:

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Similarly the motion analysis for the Scotch mechanism can be found in most mechanisms text
books. For this case the displacement is given by:

The velocity and acceleration can be written as:

2.5 Procedure :
1. firstly we measure radius of the rotating disk and length for the connecting rod.

2. then setting the rotating disk at 0˚and the slider crank will be on 0 mm.

3. rotate the disk crank to chang the angle to c and read the displacement (x).

4. repeat this step by change the angle 30˚ every time until we get 360˚ with read the (x)

each time.

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 5. recording the reading in a table.

6. repeat the same steps which we have talked above for the scotch yoke experiment and
record the reading in a table.

2.6 calculation and results

1. Slider crank :

R= 65 mm L=260 mm Ѳ˚ = 30˚ w=100 rad/s

R
X=R[1-cos Ѳ + ( )(1-cos2 Ѳ)]
4L

65
X=65[1-cos 30 + ( )(1-cos2*30)] = 10.4 mm
4∗260

V= R w [sin Ѳ+¿) sin2 Ѳ] = 65*100 w [sin 30+¿) sin2 *30] = 3953 mm/s

a= R w2 [cosѲ+¿) cos2 Ѳ] =65*1002 [cos30+¿) cos2*30] = 644166 mm/s

Angular Experimental Theoritical Error Velosity V Acceleration a

Displacement position X (mm) position X ٪ (mm/sec) (mm/sec)
(Ѳ) (mm)
0 0 0 0 0 812500
30˚ 6.5 10.4 37.5 3953 644166
60˚ 27 38 28 6332 243750
90˚ 58 73 20.5 6500 -162500
120˚ 94 103.6 9.2 4925 -406250
150˚ 122 123.3 1 2546 -481666
180˚ 133 130 2.3 0 -487500
210˚ 122 123.3 1 -2546 -481666
240˚ 94 103.6 9.2 -4925 -406250
270˚ 57 73 21.9 -6500 -162500
300˚ 27 38 28 -6332 243750
330˚ 7 10.4 32.6 -3953 644166
360˚ 0 0 0 0 812500
aTable(2.1): Slider crnk

2. Scotch Yock

R= 55 mm a=100 rad/sec 2 Ѳ = 30˚ w=100 rad/s

X = r(1-cos Ѳ ) = 55(1-cos 30) = 87.36mm

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 V=r.w.sin Ѳ =55*100*sin30 = 2750 mm/s

a=r.w2.cos Ѳ+R.a.sin Ѳ = 55*100*cos30 = 479063 mm/s2

Angular Experimental Theoritical Error Velosity V Acceleration a

Displacement position X (mm) position X ٪ (mm/sec) (mm/sec)
(Ѳ) (mm)
0 0 0 0 0 550000
30˚ 7 7.36 4.8 2750 479063
60˚ 25 27.5 9 4736 279763
90˚ 56 55 1.8 5500 5500
120˚ 81 82.5 16.9 4736 -270236
150˚ 107 102.6 1.8 2750 -473563
180˚ 114 110 3.6 0 -550000
210˚ 110 102.6 7.2 - 2750 -479063
240˚ 85 82.5 3 -4736 -279763
270˚ 60 55 9 - 5500 0
300˚ 30 27.5 9 -4736 270236
330˚ 10 7.36 35.8 - 2750 473563
360˚ 0 0 0 0

Table (2.2) : Scotch yock

srelationship between theta and x for slider

140

120

100
desplaisment (mm)

80

60

40

20

0
0 2 4 6 8 10 12 14
Angle (theta)

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 srelationship between theta and x for scotch

120

100
desplaisment (mm)

80

60

40

20

0
0 2 4 6 8 10 12 14
Angle (theta)

relationship between theta and V, a for scotch

1000000
velosity (mm/s,acceleration)mm/s2)

800000

600000

400000

200000

0
0 2 4 6 8 10 12 14
-200000

-400000

-600000
Angle (theta)

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 srelationship between theta and V, a for scotch
800000
velosity(mm/s) and accelerationi(mm/s2

600000

400000

200000

0
0 2 4 6 8 10 12 14
-200000

-400000

-600000

-800000
Axis Title

2.7 Discussion
We did two experiment and the purpose from the both is to convert the rotary motion to
linear motion, but there are some difference between them :

The slider crank mechanism have one piston where scotch yock have two pisronds are operated
at a time

The slider crank mechanism produse movement which a sight distortion of perfect simple
harmonic motion , This is because of the effective reduction in the center distance when
measure axially when con-red is at an angle .

The scotch yoke mechanism produses perfect simple harmonic motion sin wave.

From the calculation and graph we noted that the displacement is maximum when the angle of
the disk crank is 180 and it was minimum when the angle is 0 because it is the start point

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The vilosity is maximum when the angle is 90 .which mean the crank is perpendicular to the top
or botom direction ,but the acceleration will be minimum .

The displacement must be similar in the opposite angles in the rotation cycle but we had some
difference because all the group worked on the experiment , they made mistakes , This point
also make different between theoretical and practical displacement ,moreover to that the
piece which we worked on hadnot balance and have a lot of defects due to it had made from
students.

2.8 Refrences:
1. experiment No(2) sheet .

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