Chapter 3

Dynamic Force Analysis (Planar)

3.1 Introduction
forces acting on various com-
In the previous chapter (i.e. Static force analysis), we analysed the
the mass of the accelerating components.
ponents of machines or mechanisms without considering
while accelerating. This force is
In real, as each component has some mass, they produce force
known as dynamic force and it varies with time.
on the components
Dynamic analysis is defined as the analysis of various forces acting
force
parts into account. Generally
of machine or mechanism by taking inertia force due accelerating
to
When the angular velocity (w) is high,
for high speed engines, dynamic force analysis is a must.
Acceleration of reciprocating parts
acceleration will be high and hence the inertia force also high.
is given by
is 80,000-1,00,000 rp.m., even the small
Example: In Gas turbines where the speed of rotor

of from the axis of rotation produces very high dynamic forces.

eccentricity of the centre mass

wear or even machine failure.

This will lead to vibrations, noise,

3.2 Inertia force and inertia torque

Inertia force is a property of matter by virtue of which a body resists any change in velocity (v)
In general, inertia force is given by,
F =-mR aG (3.1)
where mR = Mass of the reciprocating body (kg)

aG = Linear acceleration of centre of mass of the body (m/s*)

indicates that the inertia force acts

in the opposite direction to that of the accel-
Negative sign
throughthe centre of mass of the body.
eration. Inertia force acts
of matter by virtue of which a body resists any change
Similarly, inertia torque is a property
in angular velocity (w).
Ti = -IG a (3.2)
Inertia torque,
3.2
Dynamics of Machinery
where lg-Mass moment of inertia of body about an
axis

mass G (kg.m*)
Ther
pussing through centre of
We know th
Angular acceleration of the body (rad/s)
3.3 D'Alembert's Principle
when a
SCs that body
is said to be in dynamic the vector sum
equilibrium, external
Jores and inertia fonces actinK upon a system of rigid bodies is zero. The vector sum of au
of all From eqns.
e t C a l monments and inertia torques acting upon a system of rigid bodies is also separately zero.

Let P1, Fa, Fa, =External forces acting on the body(N) Therefo
TG1,To2, Toa,. = External torques acting on the body about centre of

mass G. (N.m)

According to DAlemberts principle, the vector sunm of all forces including inertia force is zero and
vector sum of all
torques (or couples) including inertia torque is also separately. The off
Therefore, EF = 0 force acting
or F+F2+ Fs + + FI = 0 (3.3) angular acce

and ET = 0
3.5 Dy
or Toi +To2+Tas + +Ti = 0 (3.4)
1. Draw
2. Draw
where FI = Inertia force = -ma; TI = Inertia torque = -la gram
3. Deter
Note: their
The above equations are similar to equations of a body in static equilibrium as explained in the 4. Calcu
chapter. (i.e.) EF 0 and XT 0 (But inertia force and inertia torque are
= =
previous
force analysis). Thus in dynamic force analysis, first the
not considered in the static
magnitudes and directions of inertia forces and
torques determined, after which they can be treated
are
just like static loads on the mechanism. Hence a
dynamic analysis problem is reduced to a static analysis problem.
5. Repla
3.4 Equivalent Offset Inertia Force as T
6. Assur
Equivalent offset inertia force is defined as a force which replaces both inertia
force and inertia as sta
torque by displacing (i.e. offsetting) the line of action of inertia
force from the centre of mass chapte
(i.e. G) by a perpendicular distance h such that the torque so
produced is equal to the inertia () Pri
4ple acting on the body. This is possible in graphical method. Inertia torque is
equal to couple
produced due to two equal, parallet and oPpositeforces as shown in Fig.3.1.
 3.3
Dynamic Force Analysis (Planar)

Therefore. Inertia torque T1 =Intertia couple

We know that inertia couple is given by.

C =Fi xh
where, F=Inertia force.
From eqns. (i) and (ii), inertia torque

Ti = Fi xxh

Therefore, offset distance from centre of gravity,

Inertia torque
h
FI Inertia force (3.5) FF
-Iga mRka ka Fig. 3.1
-m RaG mRaG aG
The offset distanceh is taken from the centre
of mass G in such a way that the offset inertia
force acting at h produces a
moment, about the centre of mass, which is opposite in sense to
angular acceleration c.

3.5 Dynamic Analysis of Four-Bar Mechanismn

1. Draw the
configuration diagram of the given four-bar mechanism.
2. Draw the velocity and acceleration diagrams of the mechanism from the
gram discussed in Kinematics of Machinery.
as configuration dia-
3. Determine the linear accelerations
(i.e. ag) of centres of masses of various links and also
their angular accelerations. (i.e. a)
4. Calculate the inertia forces and inertia
torques using the relations.
Inertia force F =-mR aG
Inertia torque
T=-lcga
5. Replace inertia force F by equivalent offset inertia force by
as Ty discussed in article 3.4.
as taking into account Fj as well
6. Assunme the
equivalent offset inertia forces on the link as static forces
as static force and treat the
analysis. Hence the problem may be solved as problem
chapter by either of the graphical methods of static force discussed in the previous
(i) Principle of analysis given below,
superposition (or) (11) Principle of virtual work.
3.4
Dynamics of Machinery
pe3.1: The dimensions of a tour-link mnechanism are AB b6U mm,
BC= 726 mm, CD =
616 mm and AD = 1100 mm.
ne ank
of 28 rad/s
AB has an angular velocity oflI rads counter clockwise andan angular retardation
at the instant when lunk.
it makes an angle of 60° with AD, the fixed
n e mass ofthe links BC and CD is 3.5 kelm length. mass of
The link AB has a mass
3.26 kg, the
of 3.26 kg, the
cenire of which lies at 220 mm from A and a moment of inertia of 101223 kg.mm*. Neglecting
Svy and friction effects, determine the instantaneous value of the drive torque required to be
applied on AB to overcome the inertia forces.
Solution:
Draw the configuration diagram ABCD of the mechanism to some suitable scale (say I cm
200 mm) as shown in Fig.3.2(a).
2. Velocity of B with respect to A (or) velocity of B
VBAUB = WAB x AB = 11 x 0.55 = 6.05 m/s

3. Now draw the velocity diagram as shown in Fig.3.20b) to some suitable scale (say 1 cm =
1.5 m/s).
4. Before drawing the acceleration diagram, find the radial components of acceleration from
the data obtained in velocity díagram.
Now, aBA = Radial component of acceleration of B with respect to A

hA = -6.05266.55 m/s
AB AB 0.55
aBA = Tangential component of acceleration of B with respect to A

aBA X AB =28 x 0.55 = 15.4 m/s?

acB = Radial components of acceleration of C with respect to B

= "ÉB3.825)2
BC 0.72620.152m/s
acD Radial components of acceleration of C with respect to D

DC
.(4.575)2
0.616
=33.98 m/s
Now draw the acceleration diagram as shown in tig.3.2(c) to some suitable scale as dis-
cussed in Kinematics of Machinery.

find the mass of each link:

6. Let us

Mass of link 2, m2 3.2

=
kg (Given)
 Dyamic Force Analysis (Planarn 3.5

Mass ot link 3, n3 = Length of the link in mctre x Mass of the link per metre length
(. BC= 726 mm = 0.726 m)
=
0.726 x 3.5 2.51 kg
Mass of link 4, m4 =
0.616 x 3.5 2.15 kg

Let G2, G3 and Gi = Centres of masses of links AB, C and CD respectively.

G2 lies at 220 mm from A. Locate point y on vector a'll in the acceleration diagram
such that, a 92 AG2
a'b AB
in the
G3 and the mid points of BC and CD respectively. Locate these points
G4 lie at
acceleration diagram. Measure the accelerations of G2, G3 and G4.

a,u
Voo Vc

A C

(b) Velocity diagram

Scale
(a)
1cm = 200mm|
Scale 1cm = 1.5 m/s

46.5

aco

ac
T60
14 73.5"
3

ace

agA 7T7T77TTT777
Y
(d)
(c) Acceleration diagram Scale 1cm = 200mm

Scale 1cm = 15 ma/s

Fig. 3.2

S
3.6 Dynamics of Machinery
ac2 Acceleration of G2 = vector a'g2 = 27 m/s
2

GGAcceleration of G3 = vector a'gs = 62.25 m/s*

aG4 Acceleration of G4 = vector a' g4 = 30.75 m/s"

From the acceleration

diagram, by measurement,
aGaAngular position of ag2 = 253.5°

aas Angular position of aga = 238°

Angular position of ac4 222°

Oac
By taking magnitude and direction,
aa=27m/s* 2253.5°
ags = 62.25 m/s L238°
aGA= 30.75 m/s* 2222°

7. Find the inertia forces on the links 2, 3 and 4. These forces act through their respective
centres of mass in the directions opposite to that of accelerations.
Inertia force acting on line 2,

= m2ac2 =
3.26 x
27 =88 N L73.5° ( 253.5°-180 =73.5°)

Inertia force acting on line 3,

Fa =
ma GG3 = 2.54 x 62.25 = 158 N Z58 ( 238°- 180° = 58°)

Inertia force acting on line 4,

A =
m3 aGA = 2.15 x 30.75 = 66 N 242° 2 2 2 - 180° =42°)
8. To determine the inertia torques, angular acceleration of the links have to be found.
link 2,
Angular acceleration of
a2 aBA = 28 rad/s
(given clockwise)
acceleration of link 3,
Angular
27.0
a BC BC 0.72637.19 rad/2 (anticlockwise)
i o n diagram, aCB acts upwards at c'. Applying this upward force at C in Fig.3.2(a), the link
anticlockwise.)
tum
BC tends to
 Dynamic Force Analysis (Planar) 3.9

of
3.6.1 Dynamic analysis in reciprocating engines neglecting the weight
the connecting rod [Analytical Method]
shown in
connecting rod of a reciprocating steam engine
as
Consider the motion of crank and
the displacement of the
Fig.3.3. Let the crank rotates with angular velocity of w rad/s. Let r be
has turned through an angleb
reciprocating body P after time 't' sounds during which the crank
from DC

Let l= length of connecting rod of a reciprocating

steam engine (m),
r = Radius of crank or crank pin circle (m)
= Inclination of connecting rod to the line of stroke PO (degree),
n= Ratio of length of connecting rod to the radius of crank = l/r

Connecting rod
Crank

Piston
P'
1C
I.D.C IO.D.C.

connecting rod of a reciprocating steam engine

Fig. 3.3 Motion of crank and

Let velocity and acceleration

first discuss the
weight of the connecting rod is neglected.
us
The
and angular acceleration of connecting rod.
of piston and then angular velocity

acceleration of piston
3.6.1(A) Velocity and
(i) Velocity of Piston (vp)
of the piston is given by
From the geometry of Fig.3.3, displacement

OP (P'C'+ C'O) (PQ+Q0)

= PP=OP
-

- =

PQ= l cos o,
= (l+r) -(lcos o +r cos 0) and Q0 = r cos 6

= r(1 - cos 0) + l(1 - cosd) = r |(1- cos0) +(1 - cos )

(3.6)
cos6) + n (1 cos o)]
-

r=r[ (1 -
3.10 Dynamics of Machinery

From triangles CPQ and CQO, o

or l/r sin0/sin
=

CQ=lsin o =
r 8in0 sin (3.7)
sin 0 or sin
sin o
sin
We know that, cOsg-(1-in"4)=
(1
binomial theorem, we get
Expanding the above expression by
(Neglecting higher terms)
cOs=1-5 sin
n2
2
sin
1 -cos30
2n of the piston is
also given
displacement
ó) in equation (3.6),
Substituting the value of (1
-

cos

by,
sin01 (3.8)
1-cos ) +n x 2n2 1-cos 0)+
to 6,
Differentiating equation (3.8) with respect
da Sin20 (3.9)
d sin + x2sincos 0=rsin6+
2n
2n

.. Velocity of P with respect to O or velocity of the piston FP,

dr de dr
=
(3.10
p
VPO do
=

(: Ratio of change of angular velocity = dô/dt = w)

Substituting the value of dæ/db from equation (3.9), velocity of the piston

sin 2
UPO=VP =wr |sin 2n (3.11)

Note: We know that by Kliens constrution from Artical 3.6.2(A),

(Refer to Fig.3.7(a))|
vp = w x OM
(From eqn.3.31)
with equation (3.11), we find that
Comparing this cquation

OM=r sin @+ Sin201

2n
 Dynamic Force Analysis (Planar) 3.11

i) Acceleration of the piston (ap)

Since the acceleration is the rate of change of velocity, therefore acceleration of the piston P,

apdt
dvp dvp d
de dt
dvp.
vp x w
xw

Differentiating equation (3.9) with respect to ,

dvp 20
d0
= wr cos0+ cOs20
27
x2=ur cos+
Substituting the value of in the above equation, we have
uros04 CO820
ap=wr |cos 0+ cos 20 xw = (3.12)

O Note
1. When crank is at the inner dead centre (I.D.C.), then 0=0°
ap =ur

2. When the crank is at the outer dead centre (O.D.C.), then 0 = 180°

aP rcos 180°+ COS2X180

As the direction of motion is reversed at the outer dead centre, therefore changing the sign of the above

expression,

rod
3.6.1(B) Angular velocity and angular accleration of connecting
(i) Angular velocity of the connecting rod (wPc)
Consider the motion of a connecting rod and a crank as shown in Fig.3.3. From the geometry of
the figure, we find that

CQ= lsin d = r sine

sin 6
sino= x sin 6 =

time t,
Differentiating both sides with respect to
do COs do cos 6
x
cos dX#
cos x X
 3.12
Dynamics of Machinery
same as
the angular velocity of n o dt.
rod PC is
velocity of the connecting
connecting rod,
g0r

'with respect angular velocity of

the
to Cand is equal tothercfore
W cOs
des Cos0 X
X COs
dt COS

We know that.

sin 9
CUs (1- sin) Sin=
T

COs0 (U COs
X
sin 0) "(-sin0)
1- n2
w cos 6

(n2-sin?0) (3.13)
(ii) Angular
acceleration of the connecting rod (apc)
Angular acceleration of the
connecting rod PC,
aPc Angular acceleration of P
We know that with respect to C =
(wPc)

Now
d(wPc)d(wpc)
do d4 dwpc)
differentiating equation (3.13), do dt de x
we
w
get (3.14)
dupC)
d0 de
wcos8
|(n2 sin? e)1/2
(n2 sin
0)(sin )-[(cos 0)(n- sin?
-

(n2 sin2 n sin2 0 0)-1/2 x

(-2 sin cos 8)
= w
0/2(-sin 8) (n2 sin^ + -

n2 sin0 e)-1/2 sin f cos? e

-w sin sin 0)1/2 (n? -

sin? 0)-1/2 Acc-

=
-w sin (7 sin0)_.
n2-sin20 cos?e
cos 0
(2-sin e)3/2
-wsin6 Dividing and
(n2 sin 03/2 -(sin
0 +cos multiplying by (n2- sin
cos 0)0)|= --w sin 0)*] i) Ar
(n2 d(n--1)
sin 0) We
 Dynamic Force Analysis (Planar) 3.13

. PC = d(wpc)
aPC= x w =
-w ain0(n2-1)
(3.16)
d6 (n sin0)3/2 [From equation (3.14)]
The negative sign shows that the sense of the acceleration of the connecting rod is such, that it
tends to reduce the angle p.
Note:
1. Since sin" 6 is small as compared to n?, therefore it can be neglected. Thus equations (3.13) and (3.16) can
be reduced to

wPC =
w cos 6
, and apo = -w sin(n-1) (3.17)
2. Also in equation (3.16), unity is small as compared to n?, hence the term unity can be neglected.

-w sin 4
aPC =
(3.18)

Example 3.2: A Petrol engine has a stroke of 120 mm and connecting rod is 3 times the
crank length. The crank rotates at 1500 rp.m. in clockwise direction. Determine (i) Velocity and
acceleration of the piston, and (ü) Angular velocity and angular acceleration of the connecting
rod, when the piston has travelled one-fourth of its strokefrom IDC.

Given data:
L 120 mm 0.12 m or r = L/2 0.12/2 0.06 m;l 3r > n
= = = = =
l/r =

3 N=1500 r.p.m. or w= 2m x 1500/60 = 157.08 rad/s; 0 = 180°/4 = 45°

Tofind: i) vp and aP, (i) wpc and apc

Solution:
(i) Velocity and acceleration of piston (vp and ap)
We know that velocity of piston,

P = wr (sin Sin 20\

2 x 90
= 157.08 x 0.06 sin 45+ sin x3 =8.235 m/s Ans.

Acceleration of piston,
cos 26
ap w r cos +

= (157.08) x 0.06 cos 45°+cos ) = 1046.83 m/s2 Ans.

(i) Angular velocity and angular

acceleration
ofconnecting rod (wPC and apc)
We know that angular velocity of
the connecting rod
w cos 6 157.08 x cos 45°
= 37.02 red/s Ans.
WPC = 3
 3.14
Dynamies of Machinery
Angular acceleration of the connecting rox,
sin (157.08)2sin 45
3
5815.75 rad/s Ans

Example 3.3:
1.5 The stroke of a steam engine is 600 mm and the length of
m.The crank rotates
n e crank connecting rodi.
when crank has rotates at 180 rp.m. Determine: (i) Velocity and acceleration of the pis
onnecting rod is
OJ the crank
travelled through an angle of 40°
from inner dead centre, and (u)
the piston
Given data:
for zero acceleration the
of piston. the position
the position
L 600 mm =

n=
l/r =1.5/0.3 = 5 N= or r L/2 =600/2 300 mm =
0.3 m;l = =

180 1.5 m. =

Tofind: (i) vp and ap r.p.m. or w = 2T x 180/6 18.85 rad/s ; 40°

0 =
=

i) Position of crank when ap =0

Solution:
i) Velocity and acceleration of the
We know that piston (vp and ap)
velocity of the piston
wr sin6 Sin20

=(1885) x 0.03 (sin 40°+Sin X40 = 4.2 m/s

Acceleration of the piston, 2 x5 Ans.
ap =wr (cos e COs 26
=

(18.85) x 0.3 cos 40+ COS 2 x 40°\

(ii) Position of the crank 5 =85.36
=
85.36 m/s2
m/s2 Ans.
for zero acceleration of the
Let 01 piston
position of the crank from IDC
We know that for zero
acceleration of the piston, acceleration of the
piston.
ap =
wr cos 61 +cos
0= wr (n cos
Cos 201 +n cos 61 1
=
0 n +cos 281)
(2 cos 61 -

1) +5 cos 1 =
0
2 cos 61+5 cos 61-1= 0
cos 20 =
2 cos 0 -

1)
-5 +
cos 52-4 x
01
cos(0.1862)
2 x2
=
2)=0.1862
79.27°
0.1862 Taking
=

or
Taking +ve
sign.
280.73
280.73 Ans.
 Dynamic Force Analysis (Planar) 3.15

3.6.1(c) Forces & torque analysis (neglecting weight of connecting rod)

[Analytical method]
Consider a horizontal engine with various forces acting on the reciprocating parts as shown in
Fig34. Expressions for various forces, neglecting the weight of the connecting rod may be derived
as follows :

9-(8

-8

F,

Fig 34 Forces on the parts of reciprocating engne

Let Massof the reciprocating parts c pston,

cross head pen or gudgeon pan ctc (k
WA-Wcight ofthe recprocating parts 9(N)

1. Piston Effort
Piston effort is the net force acting on the peston or crons head pin, along the line of stroke. It is
denoted by Fy in Fig 34

We know that acceleration of the reciprocat1ng parta, (i.e. peston)

aa, com
where r acceleraton of peston

force on the raiprocating parts,

Accelerating force or inertia

cos 26
F-T xGx conB (3.19)
 3.16 Dynamics of Machinery
(a) For horizontal
reciprocating engnes Inertia force
the piston f
PSton effort Fp = Net load on (Neglecting frictional resistance)
= F FF
friction resistance)
Fp =
Fl F F -

Rp
(considering (3.20)
Frictional resistance
(N)
where, Rp =

accelerated (IDC to ODC) it resists the motion and

as
nd
u s e d when the piston is the motion.
to IDC) as it assists
1S used when the piston is decelerated (ODC
EV
() For vertical H -Cylinder
reciprocating engine
e t us consider the vertical reciprocating engine as shown in Fig.3.3.
Piston
Piston effort
WR
Fe= FL FItWR (Neglecting frictional resistance)

FL FF +WR Rp (considering frictional resistance)

=

In case of vertical engine, the weight of the reciprocating parts as-

Connecting rod
the piston effort during the downward stroke (TDC to BDC) and
Sists
hence +ve sign is used and opposes during the upward stroke of the piston
(BDC to TDC) and hence -ve sign is used.
Crank
FL (Net load on the piston) can be determined as
follows:
() For single cylinder single acting engine:
Let p= Net pressure of steam or gas on the piston. (N/m2) Fig. 3.5
D =
Diameter of the piston (m)
Then net load on the piston, FL =
pressure x area =
p xI (3.21)
(i) For single cylinder double acting engine:
Let us consider the double acting cylinder as
shown
Fig.3.6. in
Let and
P A =
Pressure and cross
sectional area on the back
cover end side of end side or
the piston
p2 and A2 =
Pressure and cross
sectional area on the
crank end side of the
a =
piston
cross sectional area of the
where d piston rod =
d
Diameter of the piston
rod (m)
 Dynamic Force Analysis (Planar) 3.17

IV - Inlet value

Bock, end side

(or) Cyinder Crank end side EV Exhaust value
Cover end side

IV IV uuuyu

EN EV mir

PA A2
Fig. 3.6 Single cylinder double acting engine

Then net load on the piston,

FL = P1A1 - P2A2= P1A1 - P2(A1 - a) ( Az = A - a)
(3.22)

2. Force acting along the connecting rod (Fo)

It is denoted by Fo. From the geometry of the Fig.3.4, we find that

Fp
Fo COS o

sin0
We know that, cos = cos dyi-sin?o &sino=Sin
n
FP
Therefore, Fo sin (3.23)
-
sin
n2

3. Thrust on the sides of the cylinder walls or normal reaction on the

guide bars (FN)

It is denoted by Fy. From the geometry of the Fig.3.4, we notice that,

FP x sin° = Fp tan o
FN= Fosin d = COS (3.24)
cos

4. Crank-pin effort (Fr) and thrust on crank shaft bearings (Fa)

The force acting on the connecting rod Fo may be resolved into two components, one perpendic-
ular to the crank and the other along the erank. The component of Fo perpendicular to the crank
in known as crank-pin effort and it is denoted by Fr in Fig.3.4. The components of Fo along the
crank produces a thrust on the crank shaft bearings and it is denoted by FB in Fig.3.4.
3.18
Dynamics of Machinery
angle CKL,
resolving Fo perpendicular to tne cta
cos|90- Fr
(-) or Fr =
Fq sin(0 + 0)
Fa
Fr Fosin( +o) = Fp
COs
X
8in(6 + ) (3.25)
and
resolving Fo along the crank,

FB Fp
=
Fqcos(9 +) =

cOs
x cos(0 + o) (3.26)
5. Crank effort or turning moment or torque on crank shaft (T)
The product of the
crank-pin effort (Fr) and the crank pin radius (r) is known crank
Turning moment or
torque on the crank shaft. Mathematically,
as
effort or

Crank effort, T = Fr xr='Psin(6 + o)

COs

FP(sin cos +cos 0 sin o) sin «

cOs o xr Fp(sin +cos 0x COs
xr
=
Fp (sin 6 + cos 6 tan o)xr
(3.27)

We know that, l sin 0 =

rsin
sin
sino= sin =

and
o=V1-sin = Sin
n2 =*n2-sin2 0
n

tano= sin osin6COs O

sin
Vn-sin?0 n2sin 6
Substituting the value of tan in
equation (3.27), we have crank effort

T=FP sin 6 + cos sin

Xr
Vn2-sin?6
F p xr sin + S i n 20
(3.28)
2Vn2 -

sin20
( 2 cos 0 sin 0 = sin 20)
 Dynamic Force Analysis (Planár) 3.19

O Note: We know that,

T Fr Xr="Psin(6+d)
cos
From Fig.3.4
OM OC
Sin(6+o) sin(90- using Lami's theorem
OM
or r sin(9 + o) = OM cOs d (3.29)
sin(9+$) cos o
Substituting equation (3.29) in torque on the crank shaft,
T - Px OM cos =
d
= Fp x OM (3.30)
COS

3.6.2 Dynamic analysis in reciprocating engines neglecting the weight of

the connecting rod [Graphical Method]
The velocity. acceleration and hence inertia forces of the reciprocating parts of steam engine or
internal combustion engine (in brief IC engine) can be determined by graphical method also.
These can be determined by one of the following constructions by graphical method.

1. Klein's Construction
2. Ritterhau's Construction
3. Bennett's Construction
As Klein's construction is used generally, we will discuss about Klein's construction under
graphical method.

3.6.2(A) Velocity and Acceleration of the piston

Klein's Construction
Refer to Fig.3.7(a).

Let OC = Crank of reciprocating steam engine

PC = Connecting rod of reciprocating steam engine
= Crank angle, i.e. angle between the crank and line of stroke PO
w = Angular velocity of crank in clockwise direction (rad/s)

Procedure for Klein's Velocity diagram

1. First of all draw OC such that it is inclined at an angle & with the line of stroke (i.e. hori-
zontal line). From C, cut an arc on the horizontal line such that CP is equal to length of the

connecting rod. Join CP.

3.26
Dynamics of Machinery
radius,
We know that ratioof length of connecting rod to crank
3.33
n= l/r =
1/0.3 =

sin 20
Velocity of the piston, V= wr sin + 2
For maximum velocity of the piston,

dup/de = 0
d 2 cos 20
=0
drsine+ n2n =o or wT cos+
2n
s 6 +cos
- 20 0 20 = 0 (: wr # 0)
or cos +cos

n cos + (2 cos0-1) = 0 or 2 cos0+3.33 cos - 1 = 0

cOs 3.33 t V(3.33)2- 4 x 2 x (-1) -3.33+ 4.369 2597 (Taking +ve sign)
2 x 2 4
cos(0.2597) =75° Ans.

(ii) Maximum velocity of the

piston (Vp max)
Substituting the value of = 75° in eqn.(1)
Maximum velocity of the piston,

p(max) wr sin sin22nx75°1 -

26.18 0.3 sin 150
x
sin 75 +x3.33
26.18 x 0.3 |0.966+
66 =8.176 m/s Ans.

Example 3.6:
A horizontal steam
engine
stroke 600
mm. The
connecting
rod is 1.05 m running at 240 r.p.m.
hasa bore off 300 mm
when the crank is 60° past is nner long and the mass
of
300 mm and an
piston is 1.125 Nimm2 while that on
dead
centre, the steam
the crank side
reciprocating
pressure
arts is
parts 60 kg
is 60 k
piston rod, determine: is 0.125 on the cover side of the
Nimm2.
(i) The force in the piston rod, Neglecting the area
ea ofof the
(ii) Thrust in the connecting rod (i) Pressure on
(w) Thrust on crank shaft bearing, and iv) guide bars
(vi)
Tangential force on the
Turning moment on thecrank-pin
crank shaf crank shaj
 ynamic Force Analysis (Planar) 3.27
Given data: N =
240 r.p.m.
m:L
240/60= 25.13 rad/s ; D 300 mm 0.3
or w =
2r x =
=

600 mm
= =
0.6 m or
crank radiusr L/2 0.6/2 0.3 m;l 1.05m mp 60 = = = =

kg:0 60° pi 1.125 N/mm? 1.125

=
N(10-3)" m*1.125 x 10° N/m:m 0.125
=
=

N/mm=0.125 x 10 N/m2
=

To find: (i) Fp (i) Fv (ii) Fq (iv) Fr (v) Fa and (vi) T

Solution:
Method 1: Analytical Method
(6) Force in the piston rod (Piston
We know that net load
effort Fp)
on the piston,
FL=(P -P2)D =(1.125 x 10 -

0.125 x
10 ) ~(0.3)
x

= 70685.83 N

Ratio of length of connecting rod to crank radius,

1.05
n- 3 3.5

Inertia force on reciprocating parts,

Fimpu'r(cos0+ COs20

0.3 cos 60° + x 60°

cos 2
60 x
(25.13) x
3.5
4060.64N
Force in the piston rod or piston effort

Fp =
FL- Fi =
70685.83-4060.64= 66.625 kN Ans.
(i) Pressure on guide bars (Fw)
Let o= Angle of inclination of the connecting rod with the line of stroke.

sin 6 sin 60
We know that, sino= 0.2474
T 3.5
or d= 14.33°
Pressure on the guide bars,

F =
Fp tand = 66.625 x tan 14.33° =
17.01 kN Ans.
(i) Thrust in the connecting rod (Fo)
We know that thrust in the
connecting rod,

Fo FP 66.625
=
68.76 kN Ans.
cOs cos 14.33
 3.28
3
Dynamics of Machinery
(iv)
Tangential
We know force on the 'he crank pin
that (Fr)
(Fz
tangential
ential force
tthe crank pin,
on

g sin(0+ ) =G8.76 sin (60" + 14.33°) = 66.209 kN Ans.

Ans.
(v) Thrust on
crankshaft bearing (F'bB)
B=
Fo cos(0 + $) =
68.76 cos(60° + 14.33°) =
18.6 kN Ans.
(vi) Turning moment on the crank
we know that shaft (T)
turning moment on the crank shaft,
T
=Fr xr =
66.209 x 0.3 =
19.86 kN.m Ans.
Method 2:
Graphical Method

F (or) F
2

(b) Force polygon

Scale 1cm =20000 N

F
N

(a) Configuration diagram

Scale Icm 150 mm
Fig. 3.9
Procedure

First of all draw the coniguration diagram OCP

as nown
300mm; PC =l 1.05 m shown in
and 0 60°. Fig.3.9(a)
in
Such that OC
= r= =
to some
som suitable scale,
=