ME 383

MACHINE
ELEMENTS
 CONTENT
01 INT R O DUCTION O F T H E CO NCEP T S O F KINEMAT IC O F MACH INER IES

02 VECT O R O P ER AT IO N IN ANALY T ICAL AND GR AP H ICAL MET H O D

MO T IO N AND MACH INER Y : DISP LACEMENT , VELO CIT Y , AND

03 ACCELER AT IO N, LINKAGE AND CO NST R AINT S

04 VELO CIT Y ANALY SIS MET H O D

05 ACCELER AT IO N ANALY SIS

06 CAM AND FO LLO WER

 LEARNING OBJECTIVE
• Define what is a machine, mechanism, and
structure.
• Classify basic mechanism parts.
• Determine basic mechanism motions.
• Define terms involved in mechanisms and
kinematics.
 INTRODUCTION
The Science of Mechanism treats of laws governing the motion of the parts of a machine
and the forces transmitted by these parts.

• PURE • CONSTRUC TIV E

MECHANISM OR MECHANISM OR
KINEMATIC S OF MACHINE
MACHINES DESIGN
Four Stages Involved in the Design of a Machine

01 02 03 04

Determination of Selection of the Calculation of the Selection of the

the purpose of basic machine forces that act on appropriate materials
the machine and parts that will the machine for the variuos parts
the necessary produce the parts. and proportioning of
motions involved. required motions. these machine parts
to withstand the
forces that act on
them.
There are two fundamentally opposite aspects of the study of mechanisms:

ANALYSIS AND SYNTHESIS

SYNTHESIS ANALYSIS

A proc ess w hose output Techniques allowing

pr esc r ibes t he si zes, for quanti fiable
shapes, m at er i al and
evaluation of an
arrangements of
c om ponents so that the existing, or propos ed
resul ting mec hanism will mechanis m.
perform the desired task.
REVIEW OF MECHANICS
STRUCTURE, MECHANISM AND
MACHINE

WHAT IS A STRUCTURE?
Is a combination of resistant bodies capable of
transmitting forces or carrying loads but having no
relative motion between parts. An example of a
structure is the frame of a machine consisting of
several parts welded, bolted, or riveted together with
no relative motion between the parts.
 WHAT IS A
MECHANISM?

a mechanism is a system of
interconnected rigid parts (or links)
designed to transmit motion or
forces, often used to achieve a
specific type of movement or
perform a particular task.
WHAT IS A
MACHINE?
Is a combination of mechanisms which, apart from imparting
definite motions to the parts, also transmits and modifies the
available mechanical energy into some kind of desired work.
No machine can move itself, nor can it create motive power,
this must be derived from external sources.
SAMPLE
PARTS OF A
MACHINE
LEVER
BALL BEARING

DRIVE SHAFT

CRANKS
SAMPLE
PARTS OF A
MACHINE
BALL SCREW
GEARS
CAM

BELT

CHAINS
SAMPLE KEY

PARTS OF A
PULLEY

MACHINE

SINGLE ACTING CYLINDER

SAMPLE
PARTS OF A
MACHINE

PISTON

PISTON AND CRANKSHAFT ASSEMBLY

Engines – When generated forces are associated with the conversion of energy of high
temperature fluids to shaft power.
 TYPES OF MOTION

TRA N S L A TION ROTA TION TRA N S L A TIO N &

each point of a rigid body ROTATION or ROL L IN G
the position of each straight line in combination of the two.
having a plane motion remains at
a body is parallel to all of its
other position
a constant distance from a fixed
axis that is perpendicular to
the plane of motion
 TYPES OF MOTION
S PH E RIC A L S PA TIA L
H E L IC A L
movement of a rigid body such a body rotating about three non
rigid body moves such that each point
of the body has motion of rotation
that each point of the body has parallel axes and translates in
about a fixed axis and at the same motion about a fixed point while three independent directions
time has translation parallel to the remaining at a constant distance
axis from it
TYPES OF MOTION
TYPES OF MOTION
TRANSMISSION OF MOTION
3 Ways of Transmitting Motion
1. Direct contact between 2 members
2. Through an intermediate link
3. Flexible connector
 IMPORTANT TERMINOLOGIES
• Frame of a Machine – is a structure that supports the moving parts and
regulates the path, or kind of motion, of many of the parts. The frame may
be either fixed to the earth or moving relative to the earth, as for an
automobile.
• Particle – is an infinitesimal part of a body. It may be represented on a
drawing by a point and is often referred to as a point.
• Rigid Body – is one whose component particles remain at a constant
distance from one another; that is, the body is assumed not to suffer any
distortion by the forces that may act on it.
• Driver and Follower – the piece of mechanism which causes motion is
called the driver and the one whose motion is effected is called the
follower
 LINK
is a part of a machine or mechanism used to connect other parts that have
relative motion with respect to it. Also called as Kinematic Link or
Element.

Classification of Links
 LINK
Types of Links
1. Rigid Links – those capable of transmitting both push and pull.
e.g. Connecting Rods

2. Flexible Links – flexible links that transmit a pull but not thrust.
e.g. Ropes, Belts, Chains

3. Compression or Pressure Links – flexible links that can only

carry thrusts.
e.g. oil in hydraulics, braking system of cars, water in pump
system
 JOINT
Joint – a connection between two links that allows motion
between the links. The motion allowed may be rotational
(revolute joint), translational (sliding or prismatic joint), or a
combination of the two (roll -slide joint).
 TYPES JOINT
a. Binary Joint - If two links
are joined at the same
connection.
e.g. in the figure at joint B
b. Ternary Joint - If three
links joined at a connection.
e.g. point T in the figure
c. Quaternary Joint - If four
links joined at a connection
e.g. point Q in the figure
 KINEMATIC PAIRS
portions of two links, having relative motion, in contact with
each other at a point, along a link, or over a surface.
 KINEMATIC PAIRS
Pairs/kinematic Pairs/Pairs of elements

The types of kinematic pair are classified according to:

a. Nature of Contact
b. Nature of Mechanical Constraint
c. Nature of Relative Motion
 KINEMATIC PAIRS
According to the Nature of Contact
1. Lower Pair – A pair of links having surface
or area contact between the members.
The contact surfaces of the two links are
similar.
 KINEMATIC PAIRS
According to the Nature of Contact
2. Higher Pair – When a pair has a point or
line contact between the links. The contact
surfaces of the two links are dissimilar.
 KINEMATIC PAIRS
According to the Nature of Mechanical Constraint
1. Closed Pair (Self Closed Pair) – are those pairs where the
elements are held together mechanically.
 KINEMATIC PAIRS
According to the Nature of Mechanical Constraint
2 . Unclosed Pair (Force -Closed Pair) – are those pairs where the
elements are held together by force either gravity of by some spring
action.
 KINEMATIC PAIRS
According to the Nature of Relative Motion
1. Sliding Pair – If two links have a
sliding motion relative to each other.
Also known as Prismatic Pair.
 KINEMATIC PAIRS
According to the Nature of Relative Motion
2. Turning Pair – When one link has a
turning or revolving motion relative to
the other
 KINEMATIC PAIRS
According to the Nature of Relative Motion
3. Rolling Pair – When the links of a pair
have a rolling motion relative to each
other

4. Screw Pair (Helical Pairs) – if two

mating links have a turning as well as
sliding motion between them
 KINEMATIC PAIRS
According to the Nature of Relative Motion
5. Spherical Pair – When one link in the form of a sphere turns inside a
fixed link
 CRANKS

•Cranks – an ar m w hich
r evolves about a fixed
cent er or os cillat es t hr oug h
an angle

•The r ed cir cles r epr esent s

t he cir cular pat h t aken by a
point on t he blue cr ank
r ot at ing about an axis Q
 LEVER
two cranks rigidly connected to each other and share the same axis
angled between 0° to 180°

Bell Crank Lever Rocker

oft en called t o t wo ar ms oft en called t o t w o
ang led les s t han 9 0 ° ar ms ang led mor e t han
90°
 DEGREES OF FREEDOM

An uncons t r ained r ig id body moving in s pace can

des cribe t he follow ing independent mot ions .

1. T ranslational motions along any t hr ee mut ually

per pendicular ax es x , y and z

2. Rotational motions along t hes e axes .

Thus , a r ig id body pos s es ses s ix deg r ees of fr eedom.
The connect ion of a link w it h anot her impos es cer t ain
cons t r aints on t heir r elat ive mot ion. The number of
r es t r aint s can never be zer o (j oint is dis connect ed) or
s ix (j oint becomes s olid) .
 DEGREES OF FREEDOM
Degrees of freedom of a pair is defined as the number of independent relative
motions, both translational and rotational, a pair can have.

To find the number of degrees of freedom for a plane mechanism we have an

equation known as Grubler’s equation and is given by

Where:
F = Mobility or number of degrees of freedom
n = Number of links including frame
j1 = Joints with single (one) degree of freedom
j2 = Joints with two degrees of freedom
 DEGREES OF FREEDOM
If F > 0, results a mechanism with ‘F’ degrees of freedom.
F = 0, results in a statically determinate structure.
F < 0, results in a statically indeterminate structure.
The degrees of freedom for various joints are given by:
 KINEMATIC CHAIN
Kinematic Ch ain - A more general, yet more precise term
for mechanism is kinematic chain . A kinematic chain is
defined as: a collection of rigid bodies coupled by
mechanical constraints such that there can be relative
motion between the rigid bodies.
The individual rigid bodies are called links in the chain.
The kinematic chains are classified according to how the
links are connected.
KINEMATIC CHAIN
Kinematic Chains are linkages that satisfy two conditions:
1. Relative motion of the links is possible.
2. Motion of each piece relative to the others is definite.
KINEMATIC CHAIN
Simple Kinematic Chains
A kinematic chain is simple if each link in the chain
is coupled to at most two other links. The degree of
connectivity (DOC) of a link indicates the number of
rigid bodies joined to it. If all links are binary (DOC
= 2) the simple chain is closed.
KINEMATIC CHAIN
KINEMATIC CHAIN
Complex Kinematic Chains
A chain is complex if at least one of its links has a
DOC ≥ 3. A complex kinematic chain may always be
decomposed into simple kinematic sub-chains.
KINEMATIC CHAIN
SOME OF THE MECHANISM WHICH
ARE USED IN DAY-TO-DAY LIFE
BELL CRANK
A bell crank is a mechanical
component used to change the
direction of motion in a
system. It is typically a
pivoting lever with arms of
unequal length, and it's
commonly used in various
mechanical systems for
converting linear motion to
rotational motion or changing
the direction of force.
BELL CRANK
GENEVA STOP
A Geneva stop, also known as
a Geneva drive or Geneva
mechanism, is a type of
intermittent motion
mechanism. It is often used
in applications where
rotational motion needs to
be translated into
intermittent or step-by-step
motion.
GENEVA STOP
ELLIPTICAL TRAMMEL
This fascinating mechanism
converts rotary motion to
reciprocating motion in two
axis. Notice that the handle
traces out an ellipse rather
than a circle. A similar
mechanism is used in ellipse
drawing tools.
ELLIPTICAL TRAMMEL
PISTON ARRANGEMENT
Piston arrangements are commonly
found in internal combustion
engines, where they play a
crucial role in converting linear
motion into rotational motion.
PISTON ARRANGEMENT
RACK & PINION
The rack and pinion is used to
convert between rotary and linear
motion.

This mechanism is great for

converting the circular motion of
the gear into a straight-line
motion of the strip, or vice
versa. It's a simple and
effective way to translate motion
from one form to another.
RACK & PINION
RATCHET
A ratchet is a mechanical device
that allows motion in one
direction only. It consists of a
gear or wheel with teeth, and a
pawl, which is a lever or a
toothed component that engages
with the gear. The key feature of
a ratchet is that it permits
movement in one direction
(usually forward) while
preventing motion in the opposite
direction.
RATCHET
WORM GEAR
Worm gears are used in various
mechanical applications where
high torque and efficient power
transmission are required. The
unique design of a worm gear,
consisting of a threaded screw
(worm) meshing with a toothed
wheel (worm gear), provides a
mechanical advantage and allows
for high reduction ratios.
WORM GEAR
GEARS
Gears are versatile mechanical
components used in a wide range of
applications to transmit power,
change speed, and alter the direction
of rotation.
GEARS
CAM and FOLLOWER
Cam and follower systems are
mechanical arrangements used in
various applications to convert rotary
motion into oscillatory or
reciprocating motion.
CAMS
STEAM ENGINE
A steam engine is a device that
converts the energy stored in steam
into mechanical work. It was a key
technology during the Industrial
Revolution and played a vital role in
powering various types of machinery,
transportation, and industrial
processes.
STEAM ENGINE
 LESSON 2: VECTOR
OPERATION IN ANALYTICAL
AND GRAPHICAL METHOD
 Assignment #1: Draw 10
different mechanism and
provide descriptive
overview for each.