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# ME-321 Kinematics & Dynamics of Machines

## Course Outline (Spring 2016)

Kamyar Ghavam, PhD
kamyar.ghavam@uwaterloo.ca
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%
Textbook:
Mechanics of Machines, 2nd Edition,
William L. Cleghorn and Nikolai Dechev, Oxford University Press, 2015.

Course Materials

## 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

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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

## 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 8: Gears & Gear Trains

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

## 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

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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).