Lecture 3 - Hoists and Haulages

Hoists and haulages
Mechanics of Machines 2
Preliminary ideas
• Before we proceed, let us
revise some key ideas.
• The moment of inertia I of
an object is the sum of mr2
for all the point masses of
which it is composed. That
is,
I = ∑ mr2
• If an object is rotating
about its centre of mass,
then its Kinetic Energy (KE)
is
KE = ½Ioω2
• If the c of m moves with
Preliminary ideas linear velocity v, then total
KE is given as:
• If an object is rotating about
an axis of rotation that does KE = ½ IGω2+ ½ mv2
not correspond to its centre • If we integrate with respect
of mass(G), Io is given by to t, the rate of ΔKE is:
parallel axis theorem: ΔKE = Fv + Tω
• The moment of inertia of the • It is sometimes convenient
object around arbitrary point to treat combine linear and
,o is the given as angular motion as a
Io = IG+mh2 equivalent linear problem.
Therefore In that case, we make use
of equivalent mass of a
KE = ½ (IG+mh2)ω2 rotating body: meq
]a
KE = ½ IGω2+ ½ mv2
Acceleration of a geared system
• Many mechanical systems
comprises of connected gears.
• Consider gears A and B
• Their gear ratio is given by
• Torque required at B to accelerate B is
• Torque required at A to accelerate B is
• Torque required at A to accelerate A is

Acceleration of a geared system
• Therefore, torque required at A to accelerate both A and B is
𝑇 =𝐼 𝐴 𝛼 𝐴 +𝑛 2 𝐼 𝐵 𝛼 𝐴 𝑇 =¿ ¿
Equivalent
Example moment of inertia
Two gears are mounted on parallel shafts so that they may
revolve separately or may be meshed external. The wheels
are originally turning freely in the same direction. Find
toque required to drive the gears if A is driver and loss of
energy from meshing
Wheel Mass Number of Radius of Running

teeth gyration freely
A 4.55 kg 100 30 cm 300
B 5.44 kg 50 25 cm 100
In class tutorials
Calculate the input torque required to accelerate the input
gear A at 6.67 rad/s2.There are no other loads or losses on the
gears.
1. If A = 80 teeth, I = 10 kg m2 and B = 20 teeth, I = 1 kg m2
2. If A = 20 teeth, I = 1 kg m2 and B = 80 teeth, I = 10 kg m2
Hoisting
• Note that in dealing with hoisting, we must always consider
balance of couples and forces
• Write out equation for balance of forces at the load
• Write out equation for balance of couples at hoist drum
• Case 1: Load raised and accelerating upwards
Tension in rope = dead weight + inertia force +
friction force
𝑃=𝑊 + 𝑀𝑎+ 0
Driving torque = inertia couple + torque due to
rope tension + friction couple
𝑇 =𝐼 𝛼 + Pr +𝑇 𝑟
Hoisting
Example
A hoist drum has a moment of inertia of 85 kg-m2 and is used
to raise a lift of mass 1 tonne with an upward acceleration of
1.5 m/s2. The drum diameter is 1 m. Determine:
1. The torque required at the drum
2. the power required after accelerating for 3 seconds
from rest
Hoisting
Case 2: Load falling and accelerating downwards (no driving
torque acting)
Tensions at the load 𝑃=𝑊 − 𝑀𝑎
Couple at the drum Pr ¿ 𝑇 𝑓 + 𝐼 𝛼
Example:
A hoist drum has a mass of 360 kg and a radius of gyration of 600

mm. The drum diameter is 750 mm. A mass of 1 tonne hangs
from a light cable wrapped round the drum and is allowed to fall
freely. If friction couple at the bearings is 2.7 k Nm. Calculate the
runaway speed of the load after falling for 2 seconds from rest.
Hoisting
Case 3: Load falling and being brought to rest (braking torque)
Tensions at the load 𝑃=𝑊 + 𝑀𝑎

Couple at the drum T +𝑇 𝑓 ¿ 𝑃𝑟 + 𝐼 𝛼
Example:
The maximum allowable pull in a hoist cable is 200 kN. Calculate

maximum load in tones which can be brought to rest with a
retardation of 5 m/s2 . The hoist drum has a moment of inertia of
840 kgm2 and a diameter of 2.4 m. What is the corresponding
braking torque on the drum?
Hoisting
Case 4: Load rising and coming to rest under friction only (no
braking torque)
Tensions at the load P + Ma
Couple at the drum 𝐼 𝛼 ¿ 𝑃𝑟 +𝑇 𝑓
Example:
In an experiment, a hoist drum has a diameter is 500 mm. It is

used to raised load 50 kg and coming to rest under friction. The
upward acceleration is 3.0 m/s2 . The friction couple is 0.35 Nm.
Find the moment of inertia of the drum.
Hoisting
• Case 5: Load balancing system - two masses
connected by a light inextensible string.
𝑇 𝑚𝑎𝑠𝑠 =( 𝑇 1 − 𝑇 2 ) 𝑟 𝑑𝑟𝑢𝑛 𝑇 𝑑𝑟𝑢𝑚=𝐼 𝑑𝑟𝑢𝑚 𝛼 𝑑𝑟𝑢𝑚
𝑇 𝑟𝑒𝑞𝑢𝑖𝑟𝑒𝑑 =𝑇 𝑚𝑎𝑠𝑠 +𝑇 𝑑𝑟𝑢𝑚 +𝑇 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛
Example
A load of mass 230kg is lifted by means of a rope which is wound several times round a drum
and which then supports a balance mass of 140 kg. As the load rises the balance mass falls.
The drum has a diameter of 1.2 m and a radius of gyration of 530 mm and its mass is 70 kg.
The frictional resistance to the movement of the load is 110 N, and that to the movement of
the balance mass 90 N. The frictional torque on the drum shaft is 80 Nm.
Find the torque required on the drum, and also the power required at an instant when the load
has an upward velocity of 2.5 m/s and an upward acceleration of 1.2 m/s 2 .

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Hoists and haulages

• Torque required at B to accelerate B is

• Torque required at A to accelerate B is

• Torque required at A to accelerate A is

Wheel Mass Number of Radius of Running

A hoist drum has a mass of 360 kg and a radius of gyration of 600

Tensions at the load 𝑃=𝑊 + 𝑀𝑎

The maximum allowable pull in a hoist cable is 200 kN. Calculate

Couple at the drum 𝐼 𝛼 ¿ 𝑃𝑟 +𝑇 𝑓

In an experiment, a hoist drum has a diameter is 500 mm. It is

𝑇 𝑚𝑎𝑠𝑠 =( 𝑇 1 − 𝑇 2 ) 𝑟 𝑑𝑟𝑢𝑛 𝑇 𝑑𝑟𝑢𝑚=𝐼 𝑑𝑟𝑢𝑚 𝛼 𝑑𝑟𝑢𝑚

𝑇 𝑟𝑒𝑞𝑢𝑖𝑟𝑒𝑑 =𝑇 𝑚𝑎𝑠𝑠 +𝑇 𝑑𝑟𝑢𝑚 +𝑇 𝑓𝑟𝑖𝑐𝑡𝑖𝑜𝑛

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