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Kinematics Vs. Dynamics

KINEMATICS: The study of motion without regard to
forces.
Aim is to

ME 311: Dynamics of Machines and

Mechanisms
Lecture 4: Dynamics Fundamentals

Create the desired motions

Compute the positions, velocities, accelerations

DYNAMICS (Kinetics): The study of forces on systems in

motion.
Aim is to

By
Suril Shah
Mechanical Department
IIT Jodhpur

Creating systems which will not fail during their expected

service life

Law 1

Law 2

Every body preserves in its state of rest or of motion in a

straight line, except in so far as it is compelled to change
that state by impresses forces.

Change of motion is proportional to the moving force

impressed, and takes place in the directions of the
straight line in which such force is impresses

A Modified form:
If all the forces acting on a particle are balanced, the
particle will either remain at rest or will continue to move
in a straight line at a uniform velocity

A Modified form:
If the forces acting on a particle are not balanced, the
particle will experience an acceleration proportional to
the resultant force and in the direction of the resultant
force.

Statics

Dynamics
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Law 3

Dynamic Analysis

Reaction is always equal and opposite to action: that is to say,

the action of two bodies upon each other are always equal
and directly opposite.

Force analysis: Forces under the application of joint

motion
Inverse Dynamics
Force
Motion
Driving forces: Control
Constraint forces: Design

A Modified form:
When two particles react, a pair of interacting forces come
into existence; these forces have the same magnitude and
opposite sense, and they act along the straight line common
to the two particle.

Pelvis
Joints

Force
Mathematical
model

Motion

Motion analysis: Configuration of the linkages under

forces
Forward Dynamics

Constraint forces

Simulation , performance evaluation

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DYNAMIC MODELS

Dynamics: Equations of motion

Simplified model of a complicated part

A collection of point masses connected by massless
rods.

Study of forces and moments causing the motion in a

system.
Force (f)

A rigid body is dynamically equivalent to the original

body
The mass of the model must equal that of the original
body.
The center of gravity must be in the same location as that
of the original body.
The mass moment of inertia must equal that of the original
body.

Motion (a)

Mass (m)

Equation of motion (Newtons second law of motion )

aCM

Mass Moment
(first moment of mass)

Mass

Mass Moment of diff. mass =

Product of its mass and its
distance from the axis of
interest.
R. L. Norton, 2004
With respect to the x, y, and z
axes these are:
The mass moments of the body

Resistance to change in linear motion

f = maCM

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CM of Complicated shape

Centre of Mass (CM)

What is If the mass
moment wrt to an axis is
zero?
The axis passes through the
CM
Hence, CM is calculated by
equating

Divide into simple shapes whose

CM are known.
Global CM is found as
R. L. Norton, 2004

Summation of the first moments of

these simple shapes set equal to zero.

=0
=0
https://images.google.com/

=0

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An example

An example

http://hyperphysics.phy-astr.gsu.edu/hbase/cm.html

=0
=0
R. L. Norton, 2004

=
=

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Mass moment of Inertia

(Second moment)

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Mass moment of Inertia

Moment of inertia of the
diff. element =

Rotational form of Newton's second law is:

product of its mass and the

square of its distance from the
axis of interest.

T = I

With respect to the X, Y,

and Z axes they are:

Moment of inertia is a measure of

resistance to angular acceleration.

R. L. Norton, 2004

Mass moments of inertia of

the body

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Physical Significance: Mass moment of

Inertia (I)

Design considerations

I is proportional to the square of the radius from

the axis of rotation

Ability of the body to store rotational kinetic energy

Takes considerably more torque to swing the

hammer when it is held properly than if held near
the head.

Indicator of the amount of torque that will be needed

to rotationally accelerate the body.
Try to minimize the moments of inertia of your rotating
parts

Why is it ineffective in driving nails when held close

to the head?
Because you were unable to store very much
kinetic energy in it.
https://images.google.com/

kinetic energy for rotating system

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Exception: device intended for the storage and transfer

of large amounts of energy (punch press, drop
hammer, rock crusher etc.)
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Practical Session on ADAMS

Practical Session on ADAMS

Session 1 (90 minutes): ADAMS Introduction

Session 2 (90 minutes):

Simulation of Klann
mechanism shown in the
first figure.

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https://www.youtube.com/watch?v=XFBUUrkGtQM

Questions?

THANK YOU

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