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Theory of Machines
(Lecture Note 1)
2018A
(3 Units)
BY ENGR. P. A. ONDACHI
COURSE OUTLINE
• Introduction/Revision
• Simple mechanisms and their analysis;
• Vector diagrams;
• Simple harmonic motion;
• Newton’s Laws of motion;
• Force analysis of mechanism;
• Theory of Structures;
• Dynamics of linear systems;
• Governors;
• Introduction to tribology
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THE COURSE
•Definition
The subject, Theory of Machines may be
defined as that branch of Engineering-
science, which deals with the study of
relative motion between the various parts
of a machine, and forces which act on
them. The knowledge of this subject is very
essential for an engineer in designing the
various parts of a machine
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THE COURSE CONT’D
•Sub-divisions of Theory of Machines
Kinematics
It is that branch of Theory of Machines which
deals with the relative motion between the
various parts of the machines.
Dynamics
It is that branch of Theory of Machines which
deals with the forces and their effects, while
acting upon the machine parts in motion
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THE COURSE CONT’D
• Sub-divisions of Theory of Machines Cont’d
Kinetics
It is that branch of Theory of Machines which
deals with the inertia forces which arise from the
combined effect of the mass and motion of the
machine parts.
Statics
It is that branch of Theory of Machines which
deals with the forces and their effects while the
machine parts are at rest. The mass of the parts is
assumed to be negligible.
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FUNDAMENTAL UNITS
• The measurement of physical quantities is one of the
most important operations in engineering.
• Derived Units
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SYSTEMS OF UNITS
• C.G.S. Units • M.K.S. Units
centimetre metre
gram and
kilogram and
Second
Second
• F.P.S. Units.
• S. I. Units
Foot
pound and System
Second International Units
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PREFIXES USED IN BASIC UNITS
Factor by which the Standard form Prefix Abbreviation
unit is multiplied
1 000 000 000 000 1012 tera T
1 000 000 000 109 giga G
1 000 000 106 mega M
1 000 103 kilo k
100 102 hecto h
10 101 deca da
0.1 10-1 deci d
0.01 10-2 centi c
0. 001 10-3 milli m
0. 000 001 10-6 micro μ
0. 000 000 001 10-9 nano n
0. 000 000 000 001 10-12 pico p
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RULES FOR S.I. UNITS
• For numbers having five or more digits, the digits should be placed in
groups of three separated by spaces* (instead of commas) counting
both to the left and right to the decimal point.
• In a four digit number,** the space is not required unless the four digit
number is used in a column of numbers with five or more digits.
• Plurals are never used with symbols. For example, metre or metres are
written as m.
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RULES FOR S.I. UNITS CONT’D
• All symbols are written in small letters except the
symbols derived from the proper names. For
example, N for newton and W for watt.
•
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RULES FOR S.I. UNITS CONT’D
•Example 1
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FORCE
An agent, which produces or tends to produce, destroy or
tends to destroy motion
• Resultant Force
If a number of forces P, Q and R etc. are acting
simultaneously on a particle, then a single force, which
will produce the same effect as that of all the given forces,
is known as a resultant force.
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RESULTANT OF FORCE
•A resultant force may be found out
analytically, graphically or by the
following three laws:
Parallelogram law of forces
If two forces acting simultaneously on a particle be
represented in magnitude and direction by the two
adjacent sides of a parallelogram taken in order, their
resultant may be represented in magnitude and
direction by the diagonal of the parallelogram passing
through the point
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RESULTANT OF FORCE CONT’D
Triangle law of forces
If two forces acting simultaneously on a particle be
represented in magnitude and direction by the two
sides of a triangle taken in order, their resultant may
be represented in magnitude and direction by the
third side of the triangle taken in opposite order
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RESULTANT OF FORCE CONT’D
•Example 2
•Example 3
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SCALAR AND VECTOR
• Scalar quantities are those quantities, which have
magnitude only, e.g. mass, time, volume, density
etc
This vector is cut off along the vector quantity or drawn parallel
to the line of action of the vector quantity
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SCALAR AND VECTOR CONT’D
• Subtraction of Vectors
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MOTION
• Change in position of an object
Rectilinear Motion
It is the simplest type of motion and is along a straight line path.
Such a motion is also known as translatory motion
Curvilinear Motion
It is the motion along a curved path. Such a motion, when
confined to one plane, is called plane curvilinear motion
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MOTION CONT’D
• Linear Displacement
It may be defined as the distance moved by a body with respect to a certain fixed
point.
In a reciprocating steam engine, all the particles on the piston, piston rod and
crosshead trace a straight path
Whereas all particles on the crank and crank pin trace circular paths, whose centre
lies on the axis of the crank shaft. It will be interesting to know, that all the particles
on the connecting rod neither trace a straight path nor a circular one; but trace an
oval path, whose radius of curvature changes from time to time.
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MOTION CONT’D
• Linear Velocity
It may be defined as the rate of change of linear
displacement of a body with respect to the time.
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MOTION CONT’D
• Linear Velocity
If the displacement is along a circular path,
then the direction of linear velocity at any
instant is along the tangent at that point.
The speed is the rate of change of linear
displacement of a body with respect to the
time.
Since the speed is irrespective of its direction,
therefore, it is a scalar quantity
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MOTION CONT’D
• Linear Acceleration
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MOTION CONT’D
•Example 4
The motion of a particle is given by
a = 𝑡 3 – 3𝑡 2 + 5, where a is the
acceleration in m/𝑠 2
and t is the time in seconds. The
velocity of the particle at t = 1
second is 6.25 m/s, and the
displacement is 8.30 metres.
Calculate the displacement and the
velocity at t = 2 seconds.
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MOTION CONT’D
•Equations of Motion
Linear Motion Free Fall ( v = 0 m/s; a = g; s = h)
𝒗
V = u + at V = gt or t = 𝒈 (velocity at a time)
S =ut + ½at2 𝟐𝒉
h = ½ gt2 or t = (height at a time)
𝒈
V2 = u2 + 2as V = 𝟐𝒈𝒉 or h =
𝒗𝟐
(velocity at a height)
𝟐𝒈
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KINEMATICS OF MOTION CONT’D
Assignment 2a
A car starts from rest and accelerates uniformly to
a speed of 72 km p.h. over a distance of 500 m.
Calculate the acceleration and the time taken to
attain the speed.
If a further acceleration raises the speed to 90 km
p.h. in 10 seconds, find this acceleration and the
further distance moved.
The brakes are now applied to bring the car to rest
under uniform retardation in 5 seconds.
Find the distance travelled during braking.
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KINEMATICS OF MOTION CONT’D
Assignment 2b
• A ball of mass 5 kg fell freely from the top
of a tower 120 m high, calculate;
Time it takes to reach the ground
Velocity of impact
Velocity at mid way
Velocity after the first 2.5s
Position after 3s
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THANK YOU
FOR
YOUR AUDIENCE
Course Code 29