4.

Gears and gearing

Topics

• 4.1 Simple and compounded gear trains

• 4.2 Simple and compounded epicyclic gear trains
Concepts

• Speed (or gear) ratio

• Condition for correct gearing
• Involute tooth profile
Objectives

• To be able to classify the different types of gears.

• To be able to determine the speed ratios of
simple and compounded gear trains.

• To be able to determine the speed ratios of

simple and compounded epicyclic gear trains.
Some online sites for reference
• http://science.howstuffworks.com/gear.htm

• http://www.sdp-si.com/index.asp
Introduction
Gears are a type of mechanical element that is
used to transmit motion and convert power be-
tween two machinery shafts.
What are gears used for?
What are gears used for?
• to change the rate of rotation,
What are gears used for?
• to change the rate of rotation,
For instance, an electric screwdriver requires a
large gear reduction.

This is because the motor produces low torque

when it is spinning at a high speed.
What are gears used for?
What are gears used for?
• to change the direction of the axis of rotation.
What are gears used for?
• to change the direction of the axis of rotation.

In a drivetrain, a gear
differential is used to
turn the power sup-
plied by the engine
◦
90 to apply it to the
wheels.
Classification of gear types
The classification of the gears is based on the ori-
entation of the shafts’ axes.

• Parallel shafts
• Intersecting shafts
• Skew (neither parallel nor intersecting) shafts
Features of gears

• Operates without slip

• Can have a large operating range (in speed
and torque)

• Have a potentially long life

Parallel shafts

• Spur gear
• Helical gear
Spur gear
The teeth is parallel to the
shafts’ axes.
The larger gear is usually
called the wheel while the
smaller gear is known as the
pinion.
Does both gears rotate in the
same direction?
Rack and pinion
Converts rotary motion into
linear motion
The rack can be considered to
be a gear with an infinite ra-
dius.
Does the rack and pinion
move in the same direction?
Helical gear

Teeth lie along helices about

the shaft axis.
Meshing occurs gradually
across the tooth resulting in a
lower impact loading.
Advantages of helical gears over spur
gears

• Quieter.
• Able to handle large torques.
• Have a longer life.
Intersecting shaft

• The shafts axes intersect at right angles to each

other.

• The gears for intersecting shafts are known as

bevel gears.
Straight bevel gear

The teeth are cut on

a cone instead of a
cylinder blank.
Spiral bevel gear

Similar to the helical

gear, the teeth here
are cut in helix form
on the surface of the
cone.
Skew shaft

• Spiral wheel (rarely used as it has a low torque

range)

• In contrast, the worm and wheel is more com-

monly used.
Worm & wheel gear
Diagram shows a gearbox being of a wheel gear
being driven by a worm. Notice how compact this
arrangement is, compared to spur gear types.
• To reduce speed or
torque increase.
• Self-locking feature
(owing to greater friction
required to turn the
worm).
Motors have high speeds but low torques. There-
fore, it is common to use worm and wheel gear in
order to increase their potential range of applica-
tions.
Before we look into the velocity ratio of two gears
in contact, let’s first consider two smooth circular
disk that are rolling about each other.
Two smooth disks in contact

v = ω1 r1 = ω2 r2 ,
ω1 r2
∴ = − .
ω2 r1

The negative sign is added because the direction

of the rotation of the gears opposes each other.
In reality, we rarely use smooth disks to transmit
motion. Why?

This is because smooth disk tend to slip when

larger load transfer is required.

Therefore, instead of smooth disks, we usually

use gears.
Constant angular velocity ratio
For constant velocity motion transmission, the fun-
damental law of gearing must be satisfied.

‘For a pair of gears to transmit a constant an-

gular velocity ratio, the shape of their contact-
ing profiles must be such that the common
normal passes through a fixed point on the line
of centres’
Procedure to demonstrate the fundamen-
tal law of gearing
Let V1 be the velocity of the upper gear at the point
of contact, C .

V1 = rω
Let V2 be the velocity of the lower gear at the point
of contact, C .

V2 = RΩ
 For the gears to remain in contact, the
components of the velocity of each in the direction
of the normal must be the same in magnitude.
Velocity in the direction of the normal

V1 cos α = V2 cos β
Using v = ωr formula, the expression becomes
as follow;

V1 cos α = V2 cos β,
ωr cos α = ΩR cos β
Draw two normals from the centres to the common
normal
Using similar triangles, we can find the angles of
incline of the two normals to the line joining the
centres
If we can relate the distance of the normal in terms
of the radius and angle of incline

O1 I1 = r cos α,
O2 I2 = R cos β.
We can substitute the expression of the distances
into the equation for velocity

ωr cos α = ΩR cos β,
∴ ωO1 I1 = ΩO2 I2 .
We have derived the speed ratio as follow;

ω O2 I2
= .
Ω O1 I1
Let’s introduce a point p lying along the line
joining the two centers

Using similar triangles,

O2 I2 O2 P
= .
O1 I1 O1 P
Therefore the speed ratio is

ω O2 P
= .
Ω O1 P
It is clear then that p must be a fixed point in
order for the velocity ratio to be constant.

The speed ratio is

ω O2 P
= .
Ω O1 P
The point p is known as
the pitch point.
More on the pitch point
The pitch point is a fixed point lying on on the line
joining the gears’ centres.
If the common normal line at the point of contact
pases through the pitch point, then the Law of Gear-
ing is satisfied.
Recapping on what we have learnt

The speed ratio is

ω o2 p
= .
Ω o1 p
In order to obtain a constant
gear ratio,

the profile of the tooth must be such that the com-

mon normal passes through the pitch point, P .
• In order to get good gearing, the tooth profile
must obey the Law of Gearing.

• With good gearing, the motion will be smooth,

quiet and free of vibration.
Tooth profile
The two tooth profiles that meet the condition of
correct gearing are the cycloidal and involute pro-
files.

The involute profile has advantages of

1. being easy to manufacture, and
2. does not require close tolerance between shaft
locations.
Definition of an involute

The path AK generated as line M N rolls about

the circle (without slipping) is called an involute.
We can also create an involute by unwinding an
inextensible string around the circle.
Property of the involute

At any point on the involute, the normal will

always be tangential to the base circle
As such, it would always pass through a fixed
point on the line joining the centres of the two
gears.
Introducing the pressure angle
Since the gear ratio depends on the pitch point,
pitch circles are drawn through this point and be-
come the basis for the calculation of gear ratios.
When the position of the various gears are fixed in
space, it is simple matter to calculate the overall
gear ratio.

For this course the gear ratio is defined as:

Input speed
Gear ratio = Output speed
The gear ratio in terms of pitch circle diameter, D ,
is as follow;

ω1 D2
ω2
= − D1
If two gears are to mesh, the teeth must be of the
same size on each gear.

Therefore, the number of teeth then must be pro-

portional to the circumference (and hence the di-
ameter too).
Three different methods are used to define tooth
size.

• Module
• Diametral Pitch
• Circular Pitch
They are of course all related to each other.
Module

Module Diameter
= Number of teeth

D1 D2
= .
N1 N2
Diametral pitch

Diametral pitch = Number of teeth

Diameter

N1 N2
= .
D1 D2
Circular pitch

Circular pitch Circumference

= Number of teeth
There are some simple relationships between these
three ratios:
1
Module = ,
Diametral pitch
Circular pitch = π × Module,
π
Diametral picth = .
Circular pitch
Simple gear trains
A gear train consists of two or more gears.

A simple gear train implies that there is only one

gear for every shaft.
Schematic of a simple gear train

Find the speed ratio.

 input speed
Speed ratio =
output speed
ω1
=
ω5
ω1 ω1 ω2 ω3 ω4
= ( )( )( )( )
ω5 ω2 ω3 ω4 ω5
D2 D3 D4 D5
= (− )(− )(− )(− )
D1 D2 D3 D4
Since the module is identical for all the gears,

ω1 D2 D3 D4 D5
= (− )(− )(− )(− )
ω5 D1 D2 D3 D4
N2 N3 N4 N5 N5
= (− )(− )(− )(− ) =
N1 N2 N3 N4 N1
It is clear that the speed ratio depends on:
1. Number of teeth in the first and last gears only,
and
2. Number of gears in the train ( affects the sign)
Another example of a simple gear train

Find the gear ratio.

ω1 ω1 ω2 ω3 ω4
= ( )( )( )( )
ω5 ω2 ω3 ω4 ω5
N2 N3 N4 N5 N5
= (− )(− )(− )(+ ) = −
N1 N2 N3 N4 N1
Compound gear trains
In contrast to a simple gear train, there may be
more that one gear per shaft in a compound gear
train.

Does this mean that the multiple gears would also

be rotating in the same direction, and have the
same magnitude?
An example of a compound gear train

Note that gears 2 and 3 are compounded, i.e., rigidly

connected together, and therefore they would ro-
tate at the same speed.
To calculate the speed ratio, we first have to note
the path of motion, i.e.,

1→2→3→4
 ω1
Speed ratio = ,
ω4
ω1 ω2 ω3
=
ω2 ω3 ω4
 ω1 ω2 ω3
Speed ratio = ,
ω2 ω3 ω4
N2 N4
= (− )(1)(− )
N1 N3
 ω1 N2 N4
Speed ratio = =
ω4 N1 N3
Unlike the simple gear train, a compound gear train
involves each of the gears in the speed ratio.
Simple epicyclic gear trains
Epicyclic gear trains are characterised by the fact
that the centre line of some gears are not fixed in
space.

These gears are called planet gears.

The centre lines move in a circular path about the

central axis of the gear train.
Epicyclic gears have significant advantages over
fixed-axes gear trains;

The arrangement is compact, i.e., not bulky.

The gears are constantly in mesh.
The load is shared between several gears.
Reverse is available without the need for an addi-
tional shaft.
Load can be applied gradually.
Several gear ratios can be obtained.
Scope of this section
1. Understanding the configuration of the gears,
2. Calculating the number of teeth in the gears,
and
3. Calculating gear ratios using the relative veloc-
ity method

We would be solving some examples.

Side view of a simple epicyclic gear train (simpli-
fied)
Frontal view of a simple epicyclic gear train (sim-
plified)

Similar to the ring, the

arm also rotates about
the central axis.
Note that there are three shafts that may act as
input or output for the gear train.

• Shaft attached to the sun gear,

• Shaft attached to the arm, and
• Shaft attachd to the ring.
Since there are three shafts involved, it is neces-
sary to define the motion of one of them in order to
calculate the ratio of the other two.
For example, the ring gear may be held stationary,
and therefore, the ratio of the speed of the sun to
the speed of the arm can be calculated.
Use geometry to establish the relations between
the gears in terms of size.

R S + DP = R R ,
RS + 2RP = RR .

Also note that the teeth must be of the same size

in order for the gears to mesh, i.e., the module is
identical for all the gears.
Subtituting the module equations into the geomet-
rical relationship results in;

RS + 2RP = RR .

NS NP NR
= = .
DS DP DR

NS + 2NP = NR
Because the centre lines of the planets are not
fixed in space, the normal relationships for gear
ratios and teeth numbers do not apply. They only
apply when the centres are fixed in space.
There is no problem with the sun because the cen-
tre of the sun is fixed in space.

However, the centre of the planet is not fixed!

The simplest way to analyse epicyclic gear trains
involves the method of relative velocities.
Since it is the arm (or carrier) that is causing the
centre of the planet to move in space, it is a good
idea to write the angular velocities of the gears
relative to the arm.
Then the arm would appear to be stationary, while
the angular velocities of the various gears will
change and become those that are relative to the
arm.
The angular velocity of the gears (relative to the
ground)
The angular velocity of the gears (relative to the
arm)

The arm has become ‘stationary’.

If the arm now appears to be stationary, the angu-
lar velocities of the gears (written relative to the arm)
would follow the normal relationship with respect to the
number of teeth and the (relative) rotational speeds.
Thus, relative to the arm, (which now appears sta-
tionary) we write - (for example for external teeth);
   
ω1 N2
=−
ω2 arm N1
Note: each of the rotational speeds is written rela-
tive to the arm.
Let us apply the relative velocity method to a sim-
ple epicyclic gear train

We form the quotient of the angular speed of the

sun to the angular speed of the ring.
Both are measured relative to the arm.
Consider the path sun → planet → ring.
The gear ratio is as follow;
   
ωsun ωsun
=
ωring arm ωring arm

First consider the left hand side of the equation

The angular speed of the sun relative to the arm is
given as

ωsun − ωarm ,

and the angular speed of the ring relative to the

arm is given as

ωring − ωarm
Therefore the left hand side of the equation be-
comes
ωsun − ωarm
LHS =
ωring − ωarm
Now let’s consider the right hand side of the equa-
tion
 Since the arm appears to be stationary, the
right hand side becomes as follow
 
ωsun ωS ωP
= ,
ωring arm ωP ωR
NP NR
= (− )(+ )
NS NP
Note that the planet and ring rotate in the same
direction relative to the arm. The ring has internal
teeth.
Equating both sides of the equation produces

ωS −ωA NR
ωR −ωA
= NS

All simple epicyclic gear trains can be solved using

this equation!

It is a normal equation for a simple gear train, ex-

cept that the gear speeds are now written relative
to the arm.
Let’s solve some examples to gain a better
understanding.
Example

The sun in a simple epicyclic gear train has 40 teeth,

and the planet has 20 teeth. The ring gear is held sta-
tionary while the sun gear rotates at 100 rpm in the
clockwise direction. Find the speed of the arm.
First find the number of teeth present in all the
gears.

RR = RS + 2RP ,
∴ NR = NS + 2NP ,
= 40 + 2(20),
= = 80 teeth.
Consider the path from sun → planet → ring
   
ωsun ωsun ωplanet
= ,
ωring arm ωplanet ωring arm
  
ωsun − ωarm Nplanet Nring
= − + ,
ωring − ωarm Nsun Nplanet
 
Nring
= − .
Nsun
Having found the number of teeth and the equation
for the gear ratio, we can determine its value.

ωS − ωA NR
= − ,
ωR − ωA NS
−100 − ωA 80
= − ,
0 − ωA 40
ωA = −33.33 rpm.
The arm thus rotates in the same direction as the
sun, but at 1/3 the speed.
Example of simple epicyclic gear train
The sun in an epicyclic gear train
has 24 teeth, and the planet has
20 teeth. Find all of the gear ra-
tios possible, if in turn one of the
input/output members is held sta-
tionary.

The input/output members could either be the

sun/ring/arm.
NS + 2NP = NR
ωS −ωA NR
ωR −ωA
= − NS
NR = NS + 2NP
= 24 + 2(20)
= 64 teeth.
If the sun gear was stationary

ωS − ωA NR
= − ,
ωR − ωA NS
0 − ωA 64
= − ,
ωR − ωA 24
ωR 11
∴ =
ωA 8
If the sun gear was stationary
Consider path of sun →
planet,
ωS ωS
( )ARM = ( )ARM ,
ωP ωP
ωS − ωA NP
= − ,
ωP − ωA NS
0 − ωA 20
= − ,
ωP − ωA 24
ωP 22
∴ =
ωA 10
If the ring gear was stationary

ωS − ωA NR
= − ,
ωR − ωA NS
ωS − ωA 64
= − ,
0 − ωA 24
ωS 11
∴ =
ωA 3
If the arm was stationary

ωS − ωA NR
= − ,
ωR − ωA NS
ωS − 0 64
= − ,
ωR − 0 24
ωS 8
∴ = −
ωR 3
We now move on from a simple epicyclic gear
train to a compound epicyclic gear train
Introduction to compound epicyclic gear
train
Compound epicyclic gear trains have two gears, or
perhaps more, (depending on the complexity of the
configuration) compounded.

Compared to a simple epicyclic gear train, a com-

pound epicyclic gear train is able to provide a wider
range of gear ratios and options.
Our plan
We will consider a number of different compound
epicyclic gear trains, to illustrate the method of anal-
ysis.

The actual approach adopted will depend, in each

case, on the detail of the configuration.
It is important to understand the basic concepts
and adapt the analysis to suit a particular
configuration.
Analysis method
Similar to the simple epicyclic gear train, we will
first examine the relationships that allow us to cal-
culate the number of teeth in the various gears

Next, we decide on the path of motion transfer and

apply the chain rule when determining the gear ra-
tios.
Compound planet gears and two sun
gears

The planet gears are rigidly connected together

with a shaft. The planets and shaft are free to ro-
tate in the housing connected to the arm.
Distance between the centre of the planet and the
centre of the sun gears is fixed.

RS1 + RP 1 = RS2 + RP 2
Since the gears have the same module, therefore,
we can find the relationship of the gears in terms
of the number of teeth

NS1 + NP 1 = NS2 + NP 2
The equations for calculating the gear ratios are
written as relative to the arm.

We may consider either path; (S1 → P1 → P2 →

S2 ) or (S2 → P2 → P1 → S1 )
Gear ratio is input speed/output speed.

If we consider path (S1 → P1 → P2 → S2 ), the

gear ratio is as follow;
   
ωS1 ωS1 ωP 1 ωP 2
=
ωS2 arm ωP 1 ωP 2 ωS2 arm
    
ωS1 ωS1 ωP 1 ωP 2
= ,
ωS2 arm ωP 1 ωP 2 ωS2 arm
ωS1 − ωarm NP 1 NS2
= (− )(1)(− )
ωS2 − ωarm NS1 NP 2
ωS1 −ωarm NP 1 NS2
ωS2 −ωarm
= ( NS1 NP 2 )
Example 2; Compounded planets with sun
and ring
Use geometry to find the equation for the gears in
terms of the pitch circle diameter.
The vertical distance between the two centre lines
is fixed.

RS1 + RP 1 = RR2 − RP 2
For teeth of the same module,

NS1 + NP 1 = NR2 − NP 2
Let’s consider the path S1 → P1 → P2 → R2 .
The gear ratio is as follow;

   
ωS1 ωS1 ωP 1 ωP 2
=
ωR2 arm ωP 1 ωP 2 ωR2 arm
   
ωS1 ωS1 ωP 1 ωP 2
= ,
ωR2 arm ωP 1 ωP 2 ωR2 arm
NP 1 NR2
= (− )(1)( ).
NS1 NP 2
ωS1 −ωarm
ωR2 −ωarm
= −NP 1 NR2
NS1 NP 2
In the compound epicyclic gear train shown, all
teeth have the same module. The driving gear,
A, has 14 teeth, the ring gear, C, has 100 teeth,
and ring gear, E, has 98 teeth. Gear C rotates at
1 rpm anticlockwise while gear A rotates clockwise
at 100 rpm. What is the speed of E?
First find the number of teeth in gear B.

RA + 2RB = RC ,
NA + 2NB = NC ,
14 + 2NB = 100,

∴ NB = 43 teeth.
Next find the number of teeth in gear D.

RA + RB = RE − RD ,
NA + NB = NE − ND .
14 + 43 = 98 − ND ,
∴ ND = 41 teeth.
We need to calculate the output speed (E), but
since our calculations will require the arm speed,
we have two unknowns and only one equation!
Therefore, we must first calculate the arm speed.
We consider path A → B → C (relative to the arm)

We know that the sun gear A rotates 100rpm clock-

wise, and the ring gear C rotates at 1 rpm anti-
clockwise.
 ωA ωA ωB
= ( )arm ,
ωC arm ωB ωC
ωA − ωarm NB NC NC
= (− )(+ )=− .
ωC − ωarm NA NB NA
Assuming clockwise rotation to be negative,

ωA − ωarm NC
= − ,
ωC − ωarm NA
−100 − ωarm 100
= − ,
1 − ωarm 14
∴ ωarm = −11.4 rpm.

Thus, the arm turns clockwise at 11.40 rpm.

Now that we have found the arm speed, we can
next determine the speed of the planet gear B.

There are several possibilities! Perhaps path A →

B (relative to the arm)?
Consider path A → B,

ωA − ωarm NB
= − ,
ωB − ωarm NA
−100 − (−11.4) 43
= − ,
ωB − (−11.4) 14
∴ ωB = 17.44 rpm.

The planet gear B turns anti-clockwise at 17.44

rpm.
What if we have used path C → B?

Would we still get the same answer as the previous

path of A → B?
Consider path C → B,

ωC − ωarm NB
= ,
ωB − ωarm NC
1 − (−11.4) 43
= ,
ωB − (−11.4) 100
∴ ωB = 17.44 rpm.

The planet gear B is still turning anti-clockwise at

17.44 rpm.
The path doesn’t matter!
To find the speed of the output, E, a possibility of
the path is A → B → D → E (as usual, relative to
the arm)
    
ωA ωA ωB ωD
= ,
ωE arm ωB ωD ωE arm
ωA − ωarm NB NE
= (− )(1)(+ ).
ωE − ωarm NA ND
 ωA − ωarm NB NE
= (− )(1)(+ ),
ωE − ωarm NA ND
−100 − (−11.4) 43 98
= (− )(1)(+ ),
ωE − (−11.4) 14 41
∴ ωE = 0.66 rpm.

Therefore the output gear, ring 2, rotates anti-

clockwise at 0.66 rpm.
In order to check our results, we can consider an
alternative path, i.e., E → D (relative to the arm).

ωE − ωarm ND
=
ωD − ωarm NE
 ωE − ωarm ND
= ,
ωD − ωarm NE
ωE − (−11.4) 41
= ,
17.44 − (−11.4) 98
∴ ωE = 0.66 rpm.

The speed of ωE is still the same irrespective of

the path.
Yet another path towards finding the output speed
is as follow; C → B → D → E (relative to the arm)

   
ωC ωC ωB ωD
=
ωE arm ωB ωD ωE arm
 ωC − ωarm NB NE
= ( )(1)( ),
ωE − ωarm NC ND
1 − (−11.4) 43 98
= (1) ,
ωE − (−11.4) 100 41
∴ ωE = 0.66 rpm.

It turns out the specific path taken is really not that

important in determining the speed of the gear.

You would have to apply some judgement.

One final example

A compound epicyclic gear train consists of two

compounded planets, P1 and P2 , a sun gear, S,
and two ring gears, R1 and R2 .
The common carrier (arm) for the planets is free to
rotate on the input shaft. All gears have the same
module.
Gear Teeth

S 10

P2 35

P1 34

R1 79

R2 80
As a first step, let’s check the number of teeth in
the simple epicyclic train.

RS + 2RP 2 = RR2
The gears have the same module.

NS + 2NP 2 = NR2 ,
10 + 2(35) = 80
Next, we check the teeth number on the other side.

Parallel axes distance between the sun’s and the

planets’ centre lines must be fixed.
RR1 − RP 1 = RS + RP 2
NR1 − NP 1 = NS + NP 2 ,
NR1 − NP 1 = 10 + 35 = 45,
NS + NP 2 = 79 − 34 = 45.
If we had considered only the simple epicyclic gear
train (S1 P2 R2 ), we would not be able to find the
required gear ratio (input/output).

Why?
This is because we do not know the speed of the
carrier (arm), C1 (which is free to rotate on the
input shaft).
Before proceeding to derive the gear ratio, ask your-
self these two questions.

Where should I start and finish?

What information is given regarding the speeds

of the various gears?
Let’s consider the path S → P2 → P1 → R 1 .

As usual, the path must be relative to the carrier

(or arm)
   
ωS ωS ωP2 ωP1
=
ωR1 arm ωP2 ωP1 ωR1 arm
ωS − ωarm NP2 NR1
= (− )(1)( )
ωR1 − ωarm NS NP1
 ωS − ωarm NP2 NR1
= (− )(1)( ),
ωR1 − ωarm NS NP1
ωS − ωarm 35 79
= (− )(1)( ),
0 − ωarm 10 34
ωarm 68
∴ = .
ωS 621
Thus the arm rotates in the same direction as the
input and at about 11% of its speed.
Now that we have found the arm speed (sort of),
we can try to find the output speed.

Let’s consider the path S → P2 → R2 , all rela-

tive to the arm (as usual)
ωS − ωarm NR2
= − ,
ωR2 − ωarm NS
80
= − = 8.
10
Recall that earlier we have found the ratio of arm
speed to the sun speed as follow;

ωarm 68
= .
ωS 621
We can substitute the above into the gear ratio for
S → P2 → R2 , i.e.,
68
ωS − 721 ωS
68 = −8
ωR2 − 621 ωS
Therefore the gear ratio (after some manipulation)
is as follow;
ωS
= −552
ωR2
This is the required speed ratio.

For example, if the input rotates at 552 rpm, the

output would rotate at 1 rpm in the opposite direc-
tion.
Input and output rotates in opposite direction.

What would the speed of the arm (carrier) be?

 68
ωarm = ωS = 60.44 rpm
621
What about the planets?

There are a couple of options for the path, i.e.,

S → P2 or R2 → P2 or R1 → P1 .

They should all give the same result!

Let’s try R1 → P1 (relative to the arm)

ωR1 − ωarm NP1

= + ,
ωP1 − ωarm NR1
0 − 60.44 34
= ,
ωP1 − 60.44 79
 ∴ ωP1 = −80 rpm

Let’s try a different path, S → P2 to check our

results.
Path S → P2 (relative to the arm)

ωS − ωarm NP2
= − ,
ωP2 − ωarm NS
552 − 60.44 35
= − ,
ωP2 − 60.44 10
 ∴ ωP2 = −80 rpm

Our results confirm that the speed of the planet is

correct.
Is it possible, for a given input, to rotate the ring
gear R1 at some particular speed, so that the out-
put, R2 , is stationary?
Lets set the input speed at say 1000 rpm.
Since we know the rotational speeds of S and R2 ,
we can consider the path S → P2 → R2 (relative
to the arm) in order to find the arm speed.
Path S → P2 → R2 (relative to the arm)

 
ωS ωS ωP2
= ,
ωP2 arm ωP2 ωR2
1000 − ωarm 80
= − ,
0 − ωarm 10
Path S → P2 → R2 (relative to the arm)

1000
∴ ωarm = rpm
9
Now that we have found the arm speed, we can
consider the speed of the ring gear R1 .
Let’s use the following path, S → P2 → P1 →
R1 .
    
ωS ωS ωP2 ωP1
= ,
ωR1 arm ωP2 ωP1 ωR1 arm
ωS − ωarm NP2 NR1
= (− )(1)( ),
ωR1 − ωarm NS NP1
 ωS − ωarm NP2 NR1
= (− )(1)(+ ),
ωR1 − ωarm NS NP1
1000
1000 − 9 35 79
1000 = (− )(1)(+ ),
ωR1 − 9 10 34
 ∴ ωR1 = 1.81 rpm

Thus if the ring gear R1 is rotated at 1.81 rpm in

the same direction as that of the input gear, the
output gear would be stationary!
Solution strategies in analysing gear trains
• The number of teeth in the gears always has
something to do with the geometry of the gear train,

• The rotational speeds of the gears (in epicyclic

gear trains) are always written relative to the arm,

• Observe how the gear train works to get an idea

on where to start the analysis,
• In particular, look to see where there is infor-
mation given or required about rotational speeds,

• Decide on a path that makes sense, and will

use the information about rotational speeds,

• The path does not necessarily have to start at

the input and go to the output.
 Well done!

You have successfully endured Chapters 1 to 4 of

this unit.
The final written examination
• Two hours for working + ten minutes for reading.
• Four questions of equal weight; all major sec-
tions are examined, (rotation about a fixed axis,
free vibrations, mechanisms, gears).
• Non-examinable topics: forced vibrations and belt
drives.
• You would not be expected to draw any acceler-
ation diagrams.
In general, for engineering exams, marks are
geared towards the solution methodology

• In other words, the approach matters more than

the final answer!

For ENG1040, about 80% of the total marks would

go towards the solution method.
Fixed-axis rotation questions
• Can be linear, rotational or coupled systems.
• Involves the application of Newton’s 2nd law of
motion.
• You can also use the work energy principle in
solving this type of questions.
Things to watch out for
• Not knowing how to calculate the moment of in-
ertia,
• Using an inconsistent sign convention,
• Incorrectly identifying the forces that are acting
ON a body,
• Incorrectly identifying the torques that are acting
ON a body,
• Using the wrong equation of motion; linear, or
rotational
Vibration questions
The question usually involves
• deriving the equation of motion, and
• solving the equation of motion to obtain the kine-
matic quantities such as displacement, velocity, ac-
celeration etc.

As in the fixed axes rotation case, a free body

diagram would have to be drawn.
Things to look out for in vibration questions
• Confusing series and parallel springs,
• Forgetting the basic equations e.g. natural fre-
quency, period, static deflection, etc,
• Forgetting the equations for displacement, veloc-
ity and acceleration, and their amplitudes,
• Not knowing how to calculate A and B from the
initial conditions, or from information about ampli-
tude,
• Confusing the units, e.g. rad/s or Hz,
Mechanisms questions
• Solve for the velocity of some points in a rela-
tively uncomplicated mechanism.
• Usually involves identification of some instanta-
neous centres.
• You are free to use either the IC method or the
Velocity diagram.
Things to look out for when using the IC method
• By just drawings lines everywhere, (it feels good
to draw lines; lots of them!)
• Forgetting the two basic methods for finding in-
stantaneous centres; what are they?
• By not systematically moving from one member
to the next; where is the common point?
• By ignoring the scale of the diagram
• By using incorrect units; rpm instead of rad/s
• Forgetting the equations; v = ωr.
Things to look out for when using velocity dia-
gram
• The process by which the mechanism works is
not considered, consequently lots of lines are just
drawn everywhere (it feels good to draw lines),
• The velocity diagram is not drawn systematically,
• The velocity diagram is drawn to an inappropri-
ate scale,
• The velocity diagram and the mechanism dia-
gram are confused.
Things to look out for in gearing questions
• Choosing a path that does not have adequate
prior information,
• Not taking the speed ratio of compounded gears
as unity,
• Not taking the speed ratio as relative to the arm
for epicyclic gear trains,
• Forgetting to adopt a sign convention.