KINEMATICS OF MACHINERY

(A6311)

Dr. S.ANANTH
PROFESSOR
DEPARTMENT OF MECHANICAL ENGINEERING
VARDHAMAN COLLEGE OF ENGINEERING
HYDERABAD
 UNIT-IV-1-Cams

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 UNIT IV-1-Course Syllabus
• Cams: Definitions of cam and followers, their uses,
Types of followers and cams, Terminology
• Types of follower motion, Uniform velocity, Simple
harmonic motion and Uniform acceleration and
retardation Displacement, Velocity and acceleration
diagrams.
• Construction of Cam profiles- Cam with knife edge
follower, roller follower and flat faced follower.
• Maximum velocity and maximum acceleration during
outward and return strokes in the above 3 cases.

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 UNIT IV- CAMS
A cam is a rotating machine element which gives reciprocating or oscillating motion to
another element known as follower. The follower is a rotating or oscillating element of a
machine that follows the movement of the cam by direct contact. The cam and the follower
have a line contact and constitute a higher pair. Complicated output motions which are
otherwise difficult to achieve can easily be achieved with the help of cams. They are
manufactured usually by die-casting, milling or by punch-presses.
A cam and follower combination belong to the category of higher pairs. Elements of
cam mechanism are:
•A driver member known as the cam
•A driven member known as the follower
•A frame which supports the cam and guides the follower

Applications: The cams are widely used for operating the inlet and exhaust valves of
internal combustion engines, automatic attachment of machineries, paper cutting
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machines, spinning and weaving textile machineries, feed mechanism of automatic lathes .
 UNIT IV- CAMS – CLASSIFICATION OF CAMS
Generally Cams are classified according to:
1. Shape
2. Follower movement
3. Manner of constraint of the follower
Wedge or flat cam:
Wedge cam as shown in Figure 1 has a wedge which moves in translational motion
but the follower on it can either oscillate or translate. A spring is used to maintain the
contact between the cam and the follower. Sometimes flat plate as shown in Figure 2
is also used at the place of wedge with groove in which follower is held and rotates, in
this groove a roller follower is used.

Cam with
groove

Figure 1 Figure 2
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 UNIT IV- CAMS – CLASSIFICATION OF CAMS

Cylindrical cam:
In cylindrical cam as shown in Figure 3, a cylinder which has a circumferential
contour cut in the surface, rotates about its axis. It is also known as barrel cam. The
follower is attached with the spring comes into the contact of cylindrical cam. A
groove is cut on the surface of the cam and the roller follower has a constrained
oscillating motion.

Figure 3

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 UNIT IV- CAMS – CLASSIFICATION OF CAMS
Radial or disc cam:
In radial cams, the follower reciprocates or oscillates in
a direction perpendicular to the cam axis. The cams as
shown in Figure 4 are all radial cams.

Radial
Cam
Figure 5
Figure 4

Figure 5
Figure 7

Figure 6

Figure 6

Figure 8

Figure 7
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Figure 8
 UNIT IV- CAMS – CLASSIFICATION OF FOLLOWER

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 UNIT IV- CAMS – CLASSIFICATION OF FOLLOWER
(i) According to the surface in contact. The followers, according to the surface in contact,
are as follows :
Knife edge follower: When the contacting end of the follower has a sharp knife edge, it
is called knife edge follower, as shown in Figure (a). The sliding motion takes place
between the contacting surfaces (i.e. the knife edge and the cam surface).
Roller follower: When the contacting end of the follower is a roller, it is called a roller
follower, as shown in Figure (b). Since the rolling motion takes place between the
contacting surfaces (i.e. the roller and the cam), therefore the rate of wear is greatly
reduced.
Flat faced or mushroom follower: When the contacting end of the follower is a
perfectly flat face, it is called a flat-faced follower, as shown in Figure (c). It may be
noted that the side thrust between the follower and the guide is much reduced in case
of flat faced followers. The flat faced followers are generally used where space is limited
such as in cams which operate the valves of automobile engines.
Spherical faced follower: When the contacting end of the follower is of spherical
shape, it is called a spherical faced follower, as shown in Figure (d). It may be noted
that when a flat-faced follower is used in automobile engines, high surface stresses are
produced. In order to minimise these stresses, the flat end of the follower is machined
to a spherical shape.
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 UNIT IV- CAMS – CLASSIFICATION OF FOLLOWER
(ii) According to the motion of the follower. The followers, according to its motion, are of
the following two types:
Reciprocating or translating follower: When the follower reciprocates in guides as the
cam rotates uniformly, it is known as reciprocating or translating follower. The followers as
shown in Figure (a) to (d) are all reciprocating or translating followers.

Oscillating or rotating follower: When the uniform rotary motion of the cam is converted
into predetermined oscillatory motion of the follower, it is called oscillating or rotating
follower. The follower, as shown in Figure (e), is an oscillating or rotating follower.

(iii) According to the path of motion of the follower. The followers, according to its
path of motion, are of the following two types:

Radial follower: When the motion of the follower is along an axis passing through the
centre of the cam, it is known as radial follower. The followers, as shown in Figure (a) to
(e), are all radial followers.

Off-set follower: When the motion of the follower is along an axis away from the axis of
the cam centre, it is called off-set follower. The follower, as shown in Figure ( f ), is an
off-set follower. Offset is provided to a cam follower mechanism to minimise the side
thrust, wear and tear.
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 UNIT IV- CAMS-TERMINOLOGY

10-08-2022 Terms used in Radial cams.

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 UNIT IV- CAMS-TERMINOLOGY
1. Base circle. It is the smallest circle that can be drawn to the cam profile. The size of the
cam depends on base circle.

2. Trace point. It is a reference point on the follower and is used to generate the pitch
curve. In case of knife edge follower, the knife edge represents the trace point and
the pitch curve corresponds to the cam profile. In a roller follower, the centre of the
roller represents the trace point.

3. Pitch point. It is a point on the pitch curve having the maximum pressure angle.

4. Pitch circle. A circle drawn with centre as the cam centre and radius equal to the
distance between the cam centre and the point on the pitch curve at which the
pressure angle is maximum, is called pitch circle.

5. Pitch curve. It is the curve generated by the trace point as the follower moves relative
to the cam. For a knife edge follower, the pitch curve and the cam profile are same
whereas for a roller follower, they are separated by the radius of the roller.

6. Prime circle. It is the 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
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base circle by the radius of the roller. VCE,HYB 12
 UNIT IV- CAMS-TERMINOLOGY
7. Lift or stroke. It is the maximum travel of the follower from its lowest position to the
top most position.

8. Pressure angle. It is the angle between the direction of the follower motion and a
normal to the pitch curve at any point is called pressure angle. This angle is very important
in designing a cam profile. Pressure angle varies from maximum to minimum during
complete rotation. If the pressure angle is too large, a reciprocating follower will jam in its
bearings. The pressure angle can be reduced by increasing cam size or by adjusting the
offset.
Pressure angle <450 for low speed cam mechanisms with oscillating followers
Pressure angle ≤300 for cam mechanisms with translating followers

9. Angle of ascent. It is the angle of rotation of cam during which the follower rises up.

10. Angle of descent. It is the angle of rotation of cam during which the follower lowers
down.

11. Angle of dwell. It is the angle of rotation of cam during which the follower remains
stationary.

12. Cam profile. The surface in contact with the follower is known as cam profile.
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UNIT IV- CAMS-DISPLACEMENT, VELOCITY AND ACCELERATION
DIAGRAMS FOR FOLLOWING MOTIONS OF FOLLOWER
Displacement diagram chosen for
better dynamic performance of a
cam-follower mechanism is
cycloidal motion

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UNIT IV- CAMS-DISPLACEMENT, VELOCITY AND ACCELERATION DIAGRAMS FOR
FOLLOWING MOTIONS OF FOLLOWER

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

Maximum Maximum
Lift of the Lift of the
follower follower

Angle of Angle of
ascent ascent

Note: For uniform velocity

draw straight line
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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

Angle of Ascent Angle of Descent

Angle of Dwell
Let
S = Stroke of the follower in meters
θO and θR = Angular displacement of the cam during out stroke and return stroke of the
follower respectively, in radians
ω 10-08-2022
= Angular velocity of the cam in rad/s. VCE,HYB 17
 UNIT IV- CAM PROFILE
NOTE:
We know that time
required for the follower
during outstroke,
tO = θO /ω
and time required for the
follower during return
stroke,
tR = θR / ω
Mean velocity of the
follower during outstroke
= S/tO
and mean velocity of the
follower during return
stroke = S/tR

Figure A-- Profile of the cam when the axis of

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follower passes through the axis of cam shaft
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 UNIT IV- CAMS – PROCEDURE FOR CONSTRUCTING CAM PROFILE

1. Draw a base circle with radius equal to the minimum radius of the cam (i.e. 50
mm) with O as centre.
2. Since the axis of the follower passes through the axis of the cam shaft,
therefore mark trace point A, as shown in Figure A.
3. From OA, mark angle AOS = 60° to represent outstroke, angle SOT = 30° to
represent dwell and angle TOP = 60° to represent return stroke.
4. Divide the angular displacements during outstroke and return stroke (i.e.
angle AOS and angle TOP) into the same number of equal even parts as in
displacement diagram.
5. Join the points 1, 2, 3 ...etc. and 0′ ,1′ , 2′ , 3′ , ... etc. with centre O and
produce beyond the base circle as shown in Figure A.
6. Now set off 1B, 2C, 3D ... etc. and 0′ H,1′ J ... etc. from the displacement
diagram.
7. Join the points A, B, C,... M, N, P with a smooth curve. The curve AGHPA is the
complete profile of the cam.
Notes : The points B, C, D .... L, M, N may also be obtained as follows :
1. Mark AY = 40 mm on the axis of the follower, and set of Ab, Ac, Ad... etc. equal
to the distances 1B, 2C, 3D... etc. as in displacement diagram.
2. From the centre of the cam O, draw arcs with radii Ob, Oc, Od etc. The arcs
intersect the produced lines O1, O2... etc. at B, C, D ... L, M, N.
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 UNIT IV- CAM PROFILE

Tangent

FIGURE A1- Profile of the cam when the axis of the follower is offset by 20 mm from the
axis of the cam shaft
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 UNIT IV- CAMS – PROCEDURE FOR CONSTRUCTING CAM PROFILE

1. Draw a base circle with radius equal to the minimum radius of the cam (i.e. 50 mm)
with O as centre.
2. Draw the axis of the follower at a distance of 20 mm from the axis of the cam, which
intersects the base circle at A as shown in Figure A1
3. Join AO and draw an offset circle of radius 20 mm with centre O.
4. From OA, mark angle AOS = 60° to represent outstroke, angle SOT = 30° to represent
dwell and angle TOP = 60° to represent return stroke.
5. Divide the angular displacement during outstroke and return stroke (i.e. angle AOS and
angle TOP) into the same number of equal even parts as in displacement diagram.
6. Now from the points 1, 2, 3 ... etc. and 0′,1′, 2′,3′ ... etc. on the base circle, draw
tangents to the offset circle and produce these tangents beyond the base circle as
shown in Figure A1.
7. Now set off 1B, 2C, 3D ... etc. and 0′ H,1′ J ... etc. from the displacement diagram.
8. Join the points A, B, C ...M, N, P with a smooth curve. The curve AGHPA is the complete
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profile of the cam. VCE,HYB 21
UNIT IV- CAMS-DISPLACEMENT, VELOCITY AND ACCELERATION DIAGRAMS FOR
FOLLOWING MOTIONS OF FOLLOWER

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

Maximum
Lift of the
follower

Angle of
ascent

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM-PROCEDURE
1. Draw horizontal line AX = 360° to some suitable scale. On this line, mark AS =
90° to represent out stroke ; SR = 30° to represent dwell ; RP = 60° to
represent return stroke and PX = 180° to represent dwell.
2. Draw vertical line AY = 40 mm to represent the cam lift or stroke of the
follower and complete the rectangle as shown in Figure B.
3. Divide the angular displacement during out stroke and return stroke into any
equal number of even parts (say six) and draw vertical lines through each
point.
4. Since the follower moves with simple harmonic motion, therefore draw a
semicircle with AY as diameter and divide into six equal parts.
5. From points a, b, c ... etc. draw horizontal lines intersecting the vertical lines
drawn through 1, 2, 3 ... etc. and 0′ ,1′ , 2′ ...etc. at B, C, D ... M, N, P.
6. Join the points A, B, C ... etc. with a smooth curve as shown in Figure B. This is
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the required displacement diagram.VCE,HYB 25
UNIT IV- CAMS-DISPLACEMENT, VELOCITY AND ACCELERATION DIAGRAMS FOR
FOLLOWING MOTIONS OF FOLLOWER

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

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UNIT IV- CAMS-DISPLACEMENT, VELOCITY AND ACCELERATION DIAGRAMS FOR
FOLLOWING MOTIONS OF FOLLOWER

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

Maximum
Lift of the
follower

Angle of ascent

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

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 UNIT IV- CAMS-DISPLACEMENT DIAGRAM

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 CAM AND FOLLOWER – NUMERICAL PROBLEMS
PB 1. A cam is to be designed for a knife edge follower with the following data :
1. Cam lift = 40 mm during 90° of cam rotation with simple harmonic motion.
2. Dwell for the next 30°.
3. During the next 60° of cam rotation, the follower returns to its original position
with simple harmonic motion.
4. Dwell during the remaining 180°.
Draw the profile of the cam when
(a) the line of stroke of the follower passes through the axis of the cam shaft, and
(b) the line of stroke is offset 20 mm from the axis of the cam shaft.
The radius of the base circle of the cam is 40 mm. Determine the maximum velocity
and acceleration of the follower during its ascent and descent, if the cam rotates at
240 r.p.m.

Solution.
Given : S = 40 mm = 0.04 m;
θO = 90° = π /2 rad = 1.571 rad ;
θR = 60° = π /3 rad = 1.047 rad ;
N10-08-2022
= 240 r.p.m. VCE,HYB 34
 CAM AND FOLLOWER – NUMERICAL PROBLEMS

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Profile of the cam when the line of stroke of the follower passes through the axis of the cam
shaft.
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Profile of the cam when the line of stroke of the follower is offset 20 mm from the axis of
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the cam shaft.
Maximum velocity of the follower during its ascent and descent

We know that angular velocity of the cam,

ω = 2π N/60 = 2π× 240/60 = 25.14 rad/s

We also know that the maximum velocity of the follower during its ascent,

vO = πωS/ 2θO= π× 25.14× 0.04/ 2×1.571 = 1 m/s

and maximum velocity of the follower during its descent,

vR = πωS/ 2θR = π×25.14×0.04 / 2×1.047 = 1.51 m/s

Maximum acceleration of the follower during its ascent and descent

We know that the maximum acceleration of the follower during its ascent,

aO = π2 ω2 S/ 2(θO)2 = π2(25.14)2 0.04/ 2×(1.571)2 = 50.6 m/s

and maximum acceleration of the follower during its descent,

aR = π2 ω2 S/2(θR)2 = π2 (25.14)2 0.04 /2x (1.047)2 = 113.8 m/s

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 CAM AND FOLLOWER – NUMERICAL PROBLEMS
PB 2. A cam drives a flat reciprocating follower in the following manner :
During first 120° rotation of the cam, follower moves outwards through a distance of 20
mm with simple harmonic motion. The follower dwells during next 30° of cam rotation.
During next 120° of cam rotation, the follower moves inwards with simple harmonic
motion. The follower dwells for the next 90° of cam rotation. The minimum radius of
the cam is 25 mm. Draw the profile of the cam.
Since the follower moves outwards and inwards with simple harmonic motion,
therefore the displacement diagram, as shown in Figure D, is drawn.

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 T

FIGURE D1 - Profile of the cam when the line of stroke of the follower passes through the
10-08-2022 axis of the cam shaft.
VCE,HYB 40
 UNIT IV- CAMS – PROCEDURE FOR CONSTRUCTING CAM PROFILE

Now the profile of the cam driving a flat reciprocating follower, as shown in
Figure D1, is drawn as discussed in the following steps :
1. Draw a base circle with centre O and radius OA equal to the minimum
radius of the cam (i.e. 25 mm).
2. Draw angle AOS = 120° to represent the outward stroke, angle SOT = 30° to
represent dwell and angle TOP = 120° to represent inward stroke.
3. Divide the angular displacement during outward stroke and inward stroke
(i.e. angles AOG and HOP ) into the same number of equal even parts as in
the displacement diagram.
4. Join the points 1, 2, 3 . . . etc. with centre O and produce beyond the base
circle.
5. From points 1, 2, 3 . . . etc., set off 1B, 2C, 3D . . . etc. equal to the distances
measured from the displacement diagram.
6. Now at points B, C, D . . . M, N, P, draw the position of the flat-faced
follower. The axis of the follower at all these positions passes through the
cam centre.
7. The curve drawn tangentially to the flat side of the follower is the required
profile of the cam, as shown in Figure D1.
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 CAM AND FOLLOWER – NUMERICAL PROBLEMS
PB 3. A cam rotating clockwise at a uniform speed of 1000 r.p.m. is required to give a
roller follower the motion defined below : 1. Follower to move outwards through 50
mm during 120° of cam rotation, 2. Follower to dwell for next 60° of cam rotation, 3.
Follower to return to its starting position during next 90° of cam rotation, 4. Follower to
dwell for the rest of the cam rotation. The minimum radius of the cam is 50 mm and
the diameter of roller is 10 mm. The line of stroke of the follower is off-set by 20 mm
from the axis of the cam shaft. If the displacement of the follower takes place with
uniform and equal acceleration and retardation on both the outward and return
strokes, draw profile of the cam and find the maximum velocity and acceleration during
out stroke and return stroke.

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Given : N = 1000 r.p.m. ; S = 50 mm = 0.05 m ; θO = 120° = 2 π /3 rad = 2.1 rad ;
θR = 90° = π /2 rad = 1.571 rad

CAM PROFILE

PITCH CURVE

FIGURE E1 - Profile of the cam when the line of stroke of the follower is offset by 20 mm
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of the cam shaft. 43
 UNIT IV- CAMS – PROCEDURE FOR CONSTRUCTING CAM PROFILE
Now, the profile of the cam, as shown in Figure E1, is drawn as discussed in the following
steps :
1. Draw a base circle with centre O and radius equal to the minimum radius of the cam
(i.e. 50 mm).
2. Draw a prime circle with centre O and radius OA = Minimum radius of the cam +
radius of roller = 50 + 5 = 55 mm
3. Draw an off-set circle with centre O and radius equal to 20 mm.
4. Divide the angular displacements of the cam during out stroke and return stroke into
eight equal parts as shown by points 0, 1, 2 . . . and 0′ ,1′ , 2′ . . . etc. on the prime
circle in Figure E1.
5. From these points draw tangents to the off-set circle.
6. Set off 1B, 2C, 3D . . . etc. equal to the displacements as measured from the
displacement diagram.
7. By joining the points A, B, C . . . T, U, A with a smooth curve, we get a pitch curve.
8. Now from points A, B, C . . . T, U, draw circles with radius equal to the radius of the
roller.
9. Join the bottoms of these circles with a smooth curve to obtain the profile of the cam
as shown in Figure E1.
10. Find the maximum velocity and acceleration during out stroke and return stroke.

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