EME 1202 Lecture 1

EME 1202 FUNDAMENTALS OF
MECHANICAL ENGINEERING
Introduction to Mechanics, Mechanisms

and Dynamics of Rigid Bodies
By: Prof. J. N. Keraita

1
Definition and Terminologies (1)
Engineering Mechanics
Engineering mechanics is the study of forces that act on bodies and
the resultant motion that those bodies experience.
Machine and Mechanism

A machine is a connection of members that produce a
mechanical advantage while a mechanism transfers and/or
modifies motion without necessarily producing a mechanical
advantage. A mechanism often is part of a large machine.
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Classifications
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Definition and Terminologies (2)
 Planar and Spatial Mechanisms
 Links and Joints (Kinematic Pairs)
- In every machine, at least one link either occupies
a fixed position relative to the earth or carries the machine
as a whole along with it during motion.
Kinematic pairs
If the joint by which two members are connected has a
surface contact such as a pin joint, the connection is
known as a lower kinematic pair. If the connection takes
place at a point or along a line such as a ball bearing or gear
teeth, the connection is a higher pair. A pair that permits
only relative rotation is a revolute pair while that allowing
only sliding is a prismatic pair.
4
Free Body Diagrams
Free-body Diagram
E.g. A block on a ramp – Need FBD of block
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Kinematic Diagram
A scale drawing representing the machine or mechanism so
that only the dimensions which affect motions are recorded.
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Kinematic Analysis
A branch of the theory of machines and mechanisms, in
which the geometric aspect of the motion of machine
components or members is studied, neglecting the causes of
such motion. In the kinematics of mechanisms, research is
based on the assumption that any mechanism consists of
movably connected rigid bodies (the members) whose
motions are determined by the motion of one or more
members called the driving members.
The main problems in kinematic analysis are determination

of the position of the members and of the trajectories,
angular velocities, and accelerations of individual points of a
mechanism.
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Kinematic Analysis and Kinematic Synthesis
 The geometric aspect of the motion of machine
components or members is studied, neglecting the causes of
such motion. The main problems in kinematic analysis are
determination of the position of the members and of the
trajectories, angular velocities, and accelerations of individual
points of a mechanism.
 Kinematic synthesis is the process of designing a

mechanism to accomplish a desired task. Here, both choosing
the types as well as the dimensions of the new mechanism can
be part of kinematic synthesis.
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Dynamics of Mechanisms
 Dynamics is the combination of kinematics and kinetics.
The effects of gravity come into play.
 Dynamics of mechanisms concerns the forces that act on

the parts - both balanced and unbalanced forces, taking into
account the masses and accelerations of the parts as well as
the external forces.
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Degrees of Freedom
 Dynamics is the combination of kinematics and kinetics.
The effects of gravity come into play.
 The degrees of freedom (DOF) of a rigid body is defined as
the number of independent movements it has.
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Types of Rigid Body Motions
Translation
A motion is said to be a translation if any straight line inside the body
keeps the same direction during the movement. All the particles
forming the body move along parallel paths. If these paths are
straight lines, the motion is said a rectilinear translation; if the paths
are curved lines, the motion is a curvilinear motion.
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Rotation about a Fixed Axis
The particles forming the rigid body move in parallel planes along
circles centered on the same fixed axis. If this axis, called the axis of
rotation intersects the rigid body, the particles located on the axis
have zero velocity and zero acceleration.
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General Plane Motion
Any plane motion which is neither pure translation nor pure rotation is
referred as a general plane motion. A combination of translation and
rotation is plane motion.
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Analysis of General Plane Motion
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Kinematic Equation of Motion
Linear Motion Rigid Body Rotation
v = v0 + a t
s = v0 t + 1/2 a t2
v = (v02 + 2 a s)1/2
Other Relations
In circular motion, tangential acceleration that reflects the speed and
normal acceleration that reflects change in direction.
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Example 1
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Example 2
The mass center has linear
acceleration and linear velocity.
Their direction is parallel to the
ground. The wheel has angular
properties. There is a
relationship between these
linear and angular properties
that need to be recalled.
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Kinetics of Rigid Body
Similarly, there exists two sets of equations;
for linear and for angular rotation. Recall,
summation of moments about the centre of
gravity, moment of inertia and angular
acceleration. The moment of inertia is a
measure of an object’s resistance to rotation.
Example 3
A cable is wound from a spool supported on small frictionless
rollers A and B by exerting a force 300 N as shown. Compute the
time taken to unwind 5m of cable from the spool if the pool and
the cable have a combined moment of inertia of 864 kgm2.
Neglect the mass of the rollers and that of the cable being
unwound.
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Example 3
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Example 3
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Presented By:
Prof. J. N. Keraita
END!!
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EME 1202 FUNDAMENTALS OF

Introduction to Mechanics, Mechanisms

By: Prof. J. N. Keraita

Machine and Mechanism

The main problems in kinematic analysis are determination

 Kinematic synthesis is the process of designing a

 Dynamics of mechanisms concerns the forces that act on

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