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ME-321 Kinematics & Dynamics of Machines

Course Outline (Spring 2016)

Kamyar Ghavam, PhD
Mechanical and Mechatronics Engineering Department
University of Waterloo, Waterloo, ON, Canada

General Information
Lectures: Check This Link for class, make-up lecture, and exam schedules.
Marking Scheme:
Midterm Exam: 30% (Monday June 13th, 2016)
Final Exam: 45% (TBA)
Project 1: 10% (Engine dissection, individual project)
Project 2: 10% (Design and fabrication, group project)
Tutorial Quizzes: 5%
Mechanics of Machines, 2nd Edition,
William L. Cleghorn and Nikolai Dechev, Oxford University Press, 2015.

Course Materials

Part 1: Kinematics & Kinetics of Mechanisms

Chapter 1: Introduction to Machines and Mechanisms

1-1 Common types of mechanisms
1-2 Degrees of Freedom (DOF) in mechanisms
1-3 Inversion
1-4 Grashof condition

Chapter 2: Velocity Analysis in Mechanisms
2-1 Velocity analysis using Instant Centres
2-2 Velocity polygon method

Chapter 3: Acceleration Analysis in Mechanisms

3-1 Acceleration polygon method
3-2 Coriolis acceleration

Chapter 4: Force Analysis in Mechanisms (Graphical Method)

4-1 Static Force Analysis of a Mechanism
4-2 Dynamics Force Analysis of a Mechanism

Chapter 5: Analytical Methods

5-1 Analytical Kinematic Analysis of Mechanisms
5-2 Analytical Kinetic Analysis of Mechanisms

Part 2: Design of Mechanisms & Mechanical Vibrations

Chapter 6: Synthesis of Mechanisms

6-1 Graphical Design of a Mechanism with Two Precision Points
6-2 Graphical Design of a Mechanism with Three Precision Points
6-3 Analytical Design of a 4-Bar Mechanism with Three Precision Points
6-4 Analytical Design of a Crank-Slider Mechanism with Three Precision Points

Chapter 7: An introduction to ADAMS

Chapter 8: Gears & Gear Trains

8-1 Rolling contacts
8-2 Spur, Helical, Worm, Bevel, and Hypoid Gears
8-3 Gear Trains

Chapter 9: Cam Design (Tentative)

Chapter 10: Mechanical Vibrations

10-1 Undamped and damped free vibration of particles
10-2 Undamped and damped forced vibration of particles
10-3 Vibration of rigid bodies
10-4 The energy method

Other Useful References
Kinematics and Kinetics of Mechanisms

John J. Uicker, Gordon R. Pennock, Joseph E. Shigley Theory of Machines and

Mechanisms, 4th Edition, Oxford University Press (2011).

George H. Martin, Kinematics and Dynamics of Machines, 2nd Edition, McGraw-

Hill (1982).

Design of Mechanisms

Robert L. Norton, Design of Machinery, 5th Edition, McGraw-Hill (2012).

Mechanical Vibrations

J. L. Meriam, L. G. Kraige, Engineering Mechanics: Dynamics, 7th Edition, John

Wiley & Sons, (2013).

S. S. Rao, Mechanical Vibrations, 5th Edition, Prentice Hall, (2011).

Academic Integrity
The following links contain short, but useful, information on academic integrity.

10 tips to avoid academic misconduct, 2 pages (pdf )

Academic integrity fact sheet for students, 1 page (pdf )

Introduction to policy 71, 2 min (YouTube video)

Please visit This Website and This Tutorial for more in-depth information on academic
integrity and the related topics.