ME 3507: Theory of Machines

Introduction

Dr. Faraz Junejo

Assessments
2 Quizzes: 10 Marks (5 Marks
each) You will be notified 1 Week in
advance
1 Course Work 2 parts: 5 Marks
(Submission after mid and final exams)
Mid Term Exam (9th Week 7th October):
20 Marks
Lab (Lab Manual, Quiz, Mid Term & Final/Viva) : 25

Marks

Final Exam (17th Week 2nd

December) : 40 Marks

Class Conduct
Absences from class
Late in class
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Final Exam
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Text & Reference Books

Basic Concepts: Machine

A machine is an assemblage of rigid
bodies that
transmits

and/or transforms
OR
motion and

forces,

It is in
a combination
of resistant
bodies (the
energy
a predetermined
manner,
to
deformation, if any, due to application of forces is

do work.

negligible)which are shaped and interconnected in

such a way so as to transform and transmit the
available energy to do some particular kind of work.

Machine

Example: Machine
A screw jack is a machine which
enables the muscular energy of a man
to be employed in raising a vehicle, as
in figure shown below by turning the
lead screw.

Example: Dumping Truck

Here input motion is linear, provided
by a hydraulic actuator.
Whereas, output motion is the rotary
motion of the dumper

Theory of Machines (TOM)

It is the branch of engineering science
that deals with the study of:
Relative motion between the various
parts of the machine, and
Forces which act on them.

Why do we study Theory of Machines?

The knowledge of this subject is

essential for an engineer in
designing the various parts of the
machine.

Subdivision of TOM
TOM Constitutes of many sub-areas,
such as:
Statics
Kinematics
Kinetics
Dynamics

Review: What is Mechanics?

Mechanics is the physical science
that deals with the behavior of
bodies under the influence of forces,
i.e.
Study of what
happens to a
thing (the
technical name is
BODY) when
FORCES are applied
to it.

Review: Mechanics of Rigid Bodies

Mechanics can be divided into 3
categories: 1.) mechanics of rigid
bodies,
2.) mechanics of deformable
bodies, and
This
course
deals
solely
with
the
3.) mechanics of fluids.
mechanics of rigid bodies.
A rigid body is a body which does
not deform under the influence of
forces.

Review: Mechanics of Rigid Bodies

In all real applications, there is

always deformation, however, many
structures,

such

as

machines

exhibit

bridges
very

and
small

deformations under normal loading

conditions,

and

mechanics

can

rigid
be

used

body
with

sufficient accuracy in those cases.

Structures v/s Machines

Machines: An arrangement of parts and/or
mechanisms for doing work and there are
constrained

relative

motions

between

its

parts.

Structure: The same definition of machine,

but its purpose is not to do work and there is
no relative motion between its parts.

Statics

The mechanics of rigid bodies is

sub-divided into two areas, statics
and dynamics.

Statics is the study of bodies in

equilibrium.
This means there are no unbalanced
forces on the body, thus the body is
either at rest or moving at a uniform
velocity (i.e. it has no acceleration, implying
body is moving with constant speed along a

Dynamics

Dynamics is the study of bodies

which are not in equilibrium, thus there
is acceleration.

Dynamics is further subdivided into:

kinematics and
kinetics.

Kinematics
Kinematics is the study of the motion
of a body, without regard for how
the motion is produced.
During

this

course,

Kinematic

principles are often applied to the

analysis
determine

of

machine
positions,

members

to

velocities,

or

accelerations at various parts of the

Kinetics
Kinetics is the study of the forces
which cause motion, or the forces
which result from motion.

Summary: Mechanics
Deals with the action of forces on bodies
at rest and in motion.
Statics: The part of mechanics, which
deals with the action of forces on
bodies at rest.
Dynamics: The part of mechanics,
which deals with the action of forces
on bodies in motion.

Summary: Statics
It is the branch of TOM which deals
with the forces and their effects while
the machine parts are at rest.
The mass of the part is assumed to be
negligible.

Summary: Kinematics & Kinetics

Kinematics is that branch of TOM
which deals with the relative motion
between the various machine parts
without regard to forces causing
the motion i.e. it does not tell us effect
of
the
forces.
Kinetics is the study of the forces
which cause motion, or the forces
which result from motion.

Important Note !!
KINEMATICS: The study of motion without
regard to forces.
KINETICS The study of forces on systems in
motion.
These two concepts are really not physically
separable. We arbitrarily separate them for
instructional reasons in engineering
education. It is also valid in engineering
design practice to:
First consider the desired kinematic
motions and their consequences, and then
Subsequently investigate the kinetic forces
associated with those motions.

Important Note !!
For example; it is quite logical to
consider them in the order listed since,
from Newton's second law, F = ma,
one typically needs to know the
accelerations (a) in order to compute
the dynamic forces (F) due to the
motion of the system's mass (m).
There are also many situations in which
the applied forces are known and the
resultant accelerations are to be found.

Fundamental quantities
The
following
concepts
and
definitions are basic, and they
should be understood at the outset.
Length
Time
Mass
Force

Basic Concepts: Length

Length is the quantity used to
describe the position of a point in
space relative to another point.
This distance is described in terms of a
standard unit of length.
The universally accepted standard unit for
length is the meter.

Basic Concepts: Time

Time is conceived as succession of

events (i.e. interval between two
events) and is a basic quantity in
dynamics.
Principles of Statics are time
independent, i.e. Time is not directly
involved in the analysis of statics
problems.

Basic Concepts: Mass

Mass is a property of matter, as it
can be considered to be the amount
of matter contained in a body.
The mass of a body determines both the
action of gravity on the body, and
the resistance to changes in motion.
This resistance to changes in motion is
referred to as inertia, which is a result of
the mass of a body.

Basic Concepts: Force

Force is the action of one body on
another. For example, push or pull
exerted by one body on another.
A force tends to move a body in the
direction of its action.
The action of a force is characterized by
its magnitude, by the direction of its
action, and by its point of application.

Mechanisms and
Machines
mechanism is a device which transforms

motion to some desirable pattern and typically

develops very low forces and transmits little
power.

A machine typically contains mechanisms

which are designed to provide significant
forces and transmit significant power.

Mechanisms and Machines (contd.)

Examples of mechanisms include pencil

sharpener, a camera shutter, an analog

clock, an adjustable desk lamp.
Some

examples

possess

of

motions

machines
similar

which

to

the

mechanisms listed above are a food

blender,

bank

vault

door,

automobile transmission and a robot.

an

Mechanisms and Machines

(contd.)
There

is

no

clear-cut

dividing

line

between mechanisms and machines.

They differ in degree rather than in kind.
If the forces or energy levels within the

device are significant, it is considered a

machine; if not, it is considered a
mechanism.

Mechanisms and Machines (contd.)

Thesimilaritybetweenmachinesand
mechanismsis that:
they are both combinations of rigid
bodies
the relative motion among the rigid
bodies are definite.

What is a Mechanism?
A mechanism is the part of a machine
which contains two or more pieces
arranged so that the motion of one compels
the motion of the others.
Generally used to:
Change the direction of movement; Ex: pulley
on the flagpole
Change the type of movement; Ex: lead screw
in screw jack
Change the speed of movement
Change the amount of torque or force available
to do work; Ex: Crowbar

Mechanisms: Example
Lead Screw
Jack
Vice

Changes
rotary
movement
into
linear movement
Significantly
increases force
A person can put
a little force into
turning the handle
to move a heavy
car.

Mechanisms and simple Machines: Incline Plane

 The Egyptians used simple machines to build the

pyramids.
One method was to build a very long incline out of
dirt that rose upward to the top of the pyramid very
gently.
The blocks of stone were placed on large logs
(another type of simple machine - the wheel and
axle) and pushed slowly up the long, gentle inclined
plane to the top of the pyramid.

Mechanisms
Mechanisms, if lightly loaded and
run at slow speeds, can sometimes
be

treated

devices;
analyzed

strictly

that

is,

as
they

kinematically

regard to forces.

kinematic
can

be

without

Machines

Machines (and mechanisms running at

higher speeds), on the other hand, must first
be treated as mechanisms, a kinematic
analysis of their velocities and accelerations
must be done, and
Then they must be subsequently analyzed
as dynamic systems in which their static and
dynamic forces due to those accelerations
are analyzed using the principles of kinetics.

Course Overview

Initially, we will focus on Kinematics of

Mechanisms, in which we will study:
Kinematics Fundamentals, Different types
of Mechanisms, Position, Velocity and
Acceleration analysis and Cam Design.
Then we will shift our attention to
Dynamics of machinery, in which we will
study:
Dynamics Fundamentals, Dynamic force
analysis and Balancing.

Reminder !!
Get Text Book
and
Geometrical Set!
Thank You