# KINEMATICS OF MACHINES (NME-502)

## Notes:

Unit 1,2,5

Unit 3

Unit 4

Other useful notes:

a. Theory of machine notes

b. Cams and followers notes

c. Gears and gear trains notes

d. Governors notes

e. Theory of machines II

Syllabus of KINEMATICS OF MACHINES (NME-502)

Unit I
Introduction, mechanisms and machines, kinematics and kinetics, types of links, kinematic pairs and their
classification, types of constraint, degrees of freedom of planar mechanism, Grubler’s equation,
mechanisms, inversion of four bar chain, slider crank chain and double slider crank chain.

Velocity analysis:
Introduction, velocity of point in mechanism, relative velocity method, velocities in four bar mechanism,
slider crank mechanism and quick return motion mechanism, rubbing velocity at a pin joint, instantaneous
center method, types and locations of instantaneous center, Kennedy’s theorem, velocities in four bar
mechanism and slider crank mechanism.

Unit II
Acceleration analysis:
Introduction, acceleration of a point on a link, acceleration diagram, Corioli’s component of
acceleration, crank and slotted lever mechanism, Klein’s construction for slider crank mechanism and
four bar mechanism, analytical method for slider crank mechanism.

Kinematic synthesis of mechanism:
Introduction, dimensional synthesis of mechanisms, motion, path and function generation, Chebyshev
spacing, three position synthesis, graphical approach for four link mechanisms, straight line
mechanisms, special mechanisms – indicator diagram mechanisms, steering mechanisms, Hook’s Joint

Unit III
Cams
Introduction, classification of cams and followers, cam profiles for knife edge, roller and flat faced
followers for uniform velocity, uniform acceleration, simple harmonic and cycloidal motions of
follower. Analytical methods for cam profile.

Unit IV
Gears and gear trains
Introduction, classification of gears, law of gearing, tooth forms and their comparisons, systems of gear
teeth, length of path of contact, contact ratio, interference and undercutting in involute gear teeth,
minimum number of teeth on gear and pinion to avoid interference, simple, compound, reverted and
planetary gear trains, sun and planet gear train.

Unit V
Friction drives
Introduction, belt and rope drives, open and crossed belt drives, velocity ratio, slip, power transmission,
effect of mass of belt on power transmission, maximum power transmission, initial tension and maximum
tension, pivots and collars, uniform pressure and uniform wear, clutches.

Books:
1. Theory of Mechanisms and Machines: A Ghose and A K Malik, East West Press Pvt Ltd.
2. Theory of Mechanisms and Machines: J JUicker, G R Pennock and J E Shigley, Oxford
University Press.
3. Kinematics and dynamics of machinery: C E Wilson and J E Sadler: PEARSON
4. Kinematics and dynamics of machinery: R L Norton, McGraw Hill
5. Theory of Machines: S S Rattan, McGraw Hill
6. Theory of Machines: Thomas Bevan, Pearson