DYNAMICS OF MACHINES

STATIC FORCE ANALYSIS

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 DYNAMICS OF MACHINERY
Lecture : 2 hrs /week
Tutorial : 1 hr / week
Credits : 3

Objectives
To understand the method of static force analysis and dynamic force analysis of
mechanisms
To study the undesirable effects of unbalances in rotors and engines.
To understand the concept of vibratory systems and their analysis.
To understand the principles of governors and flywheels.

Learning Outcomes : Upon completion of this course the student

will be familiar with
Methods of static force analysis and dynamic force analysis of mechanisms.
The undesirable effects of unbalance in rotors and engines.
The concept of vibratory systems and their analysis.
Techniques for studying motion of machines and machine components.
Know the Use computer software packages in modern design of machinery
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 StaticEquilibrium
From Newtons first law, a body is in static equilibrium if the resultant
of all the forces acting on a rigid body is zero. This condition can be
expressed mathematicaly as:

F 0 and M 0
In space, these two vector equation yields six scalar equations:

Fx 0 ; M x 0
Fy 0 ; M y 0
Fz 0 ; M z 0
In planar, there are three scalar equations:

Fx 0 ; Fy 0 ;
Mz 0
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 Force Systems

In coplanar force system under which the body acted on is

in equilibrium, we can have following force systems:
1. Two force member : If there are only two forces acting
on a body, it is called a two force member.
To satisfy sum of forces equal to zero, the two forces should be equal and opposite.

F1
F2

To satisfy sum of torque is equal to zero distance between the forces must be zero.
This means that the forces are collinear.

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 Force Systems
2. Three force member : If there are only three forces acting on
a body, it is called a three force member.
To satisfy sum of forces equal to zero, the vectors must form a closed polygon and
coplanar.
F3 F1

F2

To satisfy sum of torque is equal to zero, the lines of application of all the three
forces intersects at one single point. This point is called the point of concurrency.

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 Solving static force problems

Separate the mechanism into its links, considering each

a free body with all the acting external and constraint
forces on it.

Apply the rules of statics to each free body which are

F 0 and M 0

Solution of vector equations can be by arithmetical and or

graphical.
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 Solving static force problems
Graphical Approach : Draw straight lines to represent vectors which are in
proper directions and lengths proportional to the magnitudes of the vectors
and in an articulated manner as depicted in Figure. Vectors form a closed
polygon called a vector loop

F3 F1

F2

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 Solving static force problems
Arithmetical Approach : The simplest arithmetical approach is to separate
vector equation into components.
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F3 F1
F2 2 1

F1 cos 1 F2 cos 2 F3 cos 3 0

F1 sin 1 F2 sin 2 F3 sin 3 0
These two component equations are not no longer vector equations. They are
scalar and can be simultanously solved to find max two of the following;
F1 F2 F3 1 2 3
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 Example
An external force of 10 N is acting horizontally on the rocker
link, 30 mm from the point D. Find the amount of torque to
be applied to the crank AB to keep the mechanism in static
equilibrium.
C
3
4 a1 = 80 mm
a3 a4 a2 = 30 mm
10 N a3 = 70 mm
B
a4 = 50 mm
2

30
a2

A a1
D
1

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 Example
First step is a position analysis to find the angles of the crank CD and the
coupler links.
The simplest way is to draw the mechanism to scale and measure the
required angles by a protractor directly from the figure.
Or we can take a purely arithmetical approach.

C C
3
4
a3 a4
a3 a4
10 N B
B
and a2
2
30
1
A a1
a2
D
A a1
1
2
D
1

1 89.86 2 133.52
23,92
tan 1 20,06 10
65,75
 Example C FCx
Arithmetical method: 3
Separate the mechanism into free bodies of links,
FCy

20,06
Put allFthe actingBand interacting forces,
Bx
Then, apply the law of statics for each free body. FCy

FBy FCx
C
4

FBy 10 N

B
FBx
T
2

89
,86
FDx

60

FAx A D

FDy
FAy
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Static equations for link 4;
F x 0 ; FDx FCx 10 0 FDx FCx 10

F y 0 ; FDy FCy 0 FDy FCy FCy

M D 0 ;10 * 30 * sin 89 ,86 FCx * 50 * sin 89 ,86 FCy * 50 * cos 89 ,856 0 FCx
C
49 , 99 * F Cx 0 ,12 * F Cy 299 , 99 4
10 N

89
,86
FDx

FDy

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 C FCx
3

FCy

20,06
FBx B

FBy

Static equations for link 3;

F x 0 ; FBx FCx 0 FBx FCx
F Y 0 ; FBy FCy 0 FBy FCy
M B 0 ; FCx * 70 * sin 20,06 FCy * 70 * cos 20,06 0
24,01 * FCx 60,75 * FCy 0

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Static equations for link 2;

F x 0 ; FAx FBx 0 FAx FBx

F y 0 ; FAy FBy 0 FAy FBy
M B 0; FBy * 30* cos60,00 FBx * 30* sin 60,00 T
15,00 * FBy 25,98 * FBx T
FBy
B
FBx
T
2
60

FAx A

FAy
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 C
3 FCx F 0 ; F F 10 0 F F 10
x Dx Cx Dx Cx

F 0 ; F F 0 F F
y Dy Cy Dy Cy

20,06
B FCy M 0 ;10 * 30 * sin 89,86 F * 50 * sin 89,86 F * 50 * cos 89,856 0
FBx FCy
D Cx Cy

49 , 99 * F Cx 0 ,12 * F Cy 299 , 99
FBy C FCx
4 F 0; F
x Bx FCx 0 FBx FCx
10 N F 0; F
Y By FCy 0 FBy FCy
FBy M 0; F * 70 * sin 20,06 FCy * 70 * cos 20,06 0
T
B
FBx B Cx

2 24,01 * FCx 60,75 * FCy 0

89
,86
FDx

F 0; F F 0 F F
60

A D
FAx x Ax Bx Ax Bx

FDy F 0; F F 0 F F
y Ay By Ay By

FAy M 0 ; F * 30 * cos 60,00 F

B By Bx * 30 * sin 60,00 T
15,00 * FBy 25,98 * FBx T

We have 9 equations to solve simultaneously; FAx, FAy, FBx, FBy, FCx, FCy, FDx, FDy, and T.
FCy 2 ,37 N
FCx 5 ,99 N
FCy FDy FBy FAy 2 ,37 N
FBx FCx FAx 10 FDx 5,99 N
T 120 ,07 N .mm CW ANS.

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 Example
Graphical method:
Draw the mechanism in scale,
Measure the unknown quantities directly from
the scaled drawing,
Separate the mechanism into free bodies of links
(scaled drawing),
State whether the link is two force - three force
member and then put all the acting and
interacting forces,
Apply the law of statics for each free body.

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Link 3 is two force member, F43
Link 4 is three force member C
3

20,06
B
F23

F34 C
4
10 N
F32
B
T
2 10 N

89
F14

,86

60

A F14 D
F12 F34

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 C F43
3

B F34
C
F23
4
10 N
T12 d1 * F32 19.5* 6.5 126.75 N
F32
B

T12 F14 & F34 are measured directly from the scaled D
2 force polygon.
d1 10 N stands for 50 mm 10 * 22.5 F14
F14 stands for 22.5 mm F 14 4 .5 N
A F34 stands for 32.5 mm
50
F12 F34
10 * 32.5
6 .5 N
10 N 50

OF
F14 F34 18