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Mechanical Drawing. PART I. Progressive Exercises. PART II. Practical Hints for Draughtsmen.
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Velocity Diagrams. Their Construction and their Uses. Addressed those interested in Mechanical Movements. Svo.
to all
iii
ub
pp., 83 figures.
Cloth, $1.50.
VELOCITY DIAGRAMS.
THEIR CONSTRUCTION AND THEIR USES.
BY
A.M., Sc.D.,
of Technology^
/
Drawing
Hoboken, N. /.;
Formerly Chief Draughtsman for Capt. John Ericsson Author of " Kinematics^ " Mechanical Drawing" " and ''Elements
FIRST EDITION.
FIRST THOUSAND.
NEW YORK: JOHN WILEY & SONS. LONDON: CHAPMAN & HALL, LIMITED.
1901.
Copyright, 1901,
BY
PREFACE.
THIS
treatise
is in
effect
forming a part
Institute of
Stevens
Technology.
mining at any given instant the direction and velocity of the motion of a point, whether that motion be constant or variable.
It is
who may
W. MACCORD.
VELOCITY DIAGRAMS.
a familiar fact that in the operation of any piece of mechanism, the parts go through a series of motions in
1.
It is
regular order, finally returning to their original positions after which the same series of motions is repeated, and so on indefinitely. One complete series is called a cycle; in
;
frequently happens that, supposing the first or driving piece to move uniformly in one direction, the motions of other parts will vary either in velocity or direcit
completing which
tion,
and often
in both.
And
in
mechanical movement, or in comparing the actions of different ones, it is often desirable to have a clear understanding
of the law of variation, in regard to the motion of a given
piece or a given point. Now, assuming that for a given motion of the driver, the motion of the point considered can be determined at any
instant, or in other
it
words
in
then
is
is
beyond
the
best if not indeed the only means of conveying to the mind a distinct and comprehensive idea of the law according to which the motion varies in velocity and direction.
Such a representation, or
Fig.
I.
"
velocity diagram/' is
shown
in
It consists
merely
of a curve
whose
abscissas, set
VELOCITY DIAGRAMS.
off
from
left
to right
11',
upon the
the ordinates
22', etc.,
MN,
at the instants indicated by the points i, 2, the positive ordinates, or those above the line, indicate etc.; motion in one direction, that in the opposite direction being
moving point
indicated by the negative ordinates, below the line. And a single glance at this figure is sufficient to establish the claim
above made,
it
gives in an instant
all
FIG.
2.
i.
the velocity of the driver, how to determine the values of these ordinates ? have here to
Now, given
We
choose between two methods of procedure, the graphic and the analytic. There is no question that the members of a
train of
of their
mechanism can be represented by symbols, the laws motions embodied in formulas, and the desired
values ascertained by algebraic computation. In the graphic method, the motion of a point at any instant is represented in magnitude and direction by a right line of definite length
;
lines thus reprethe motions of properly selected points, and other senting
VELOCITY DIAGRAMS.
lines closely
the values sought can be determined by geometric reasoning. Of the two, the latter method is preferable for ordinary
use,
being far more simple and expeditious than the former, while the accuracy attainable is quite sufficient for practical
Its
purposes.
ples, of
3.
foundations
lie
which we
first
2,
is
will briefly
The
point A, Fig.
to receive at the
which separately would impart to it the motions represented in direction and velocity by the lines AB,AC\ these are
called components,,
and the
resultant of these,
which
is
the
is
/y
FIG
2.
of things here
that
it
is
by
of illustration,
were a
a consideration
which, as will subsequently appear, is of no small importance. There may be more than two components in that case, find
;
the resultant of any two of them, compound that with any one of the others, and so on to the end. If there be three
VELOCITY DIAGRAMS.
in
the same plane, these will be three adjacent edges of a parallelopipedon, and the resultant will be the body diagonal which passes through the moving point
components not
in
our attention, however, will be chiefly confined to motions one plane or, what is practically the same thing, in
4.
parallel planes.
The
resolution of
If
motion
is
preceding.
two
into
a motion can be determined by compounding others, that motion, if given, can be separated or resolved
its
original components.
Thus,
let it
in Fig. 2,
suppose the
motion
AD to
be assigned, and
be required to deter-
mine two components having the directions Ax, Ay, of which AD shall be the resultant. By drawing through D lines parallel to Ax and Ay, it is evident that we shall limit
the required components, AC, AB.
But
AD
may be
the
diagonal of any one of an infinite number of parallelograms; whence it follows that a given motion may be resolved into
parallel to
any two
lines hav-
and Longitudinal Component. In Fig. 3, let the point A, of the right line MA, have a motion represented by AD. Resolve this into the components AC perSide Component
pendicular to
MA, and AB
then
AC is
component, and
AB
the longitudinal
component. And these components always exist, no matter how the motion AD may be resolved. Thus, if it be resolved into AC',AB', then AC' itself has a component Ab along MA, and Ab is equal to B'B, so that the total longitudinal compgnent
is
AB'
+ Ab, = AB.
AD
be resolved into AE, AF; Again, in Fig. 4, let AE can be resolved into the rectangular components then Ae, Ag, and AF into the pair Af, Ah also Af= eB, and
;
VELOCITY DIAGRAMS.
Ah =
Cg\ Ae and A/lie in the same direction, and the total longitudinal component is Af-\-Ae,=AJB; but since Ag
lie in
and Ah
TIG.
4.
is
Ag
6.
Ah,
= AC as before.
AM
stiff
and
let
a motion
AD,
of
which
AF and AE are
have a longitudinal component BG, equal to AE, and in the same direction. And whatever the actual motion of the point, it follows from the
of necessity
must
AM,
lie in
the
VELOCITY DIAGRAMS.
indefinite vertical line
xx drawn through
G.
If,
then, the
direction
will
By
is
H of xx
and By
determine BH.
FIG.
5.
7.
In Fig.
6,
AM, AN,
;
represent
two
together at
let
FIG.
6.
A.
From what
must
resultant
Fy perpendicular
tersection D.
to
Ex AN\
is
Which
perpendicular to A M, and also in it must, then, be their point of inas it should be, since the obviously
VELOCITY DIAGRAMS.
resultant
AD
AE, AG, or
in
AF,
Fig.
i,
by completing the
likely to
AF
would be very
would have neither the right magnido), the diagonal tude nor the right direction, unless and A were per-
AK
AM
there are other cases than this in which that procedure will
In Fig.
7, let
MNbe
an
in-
upon which the perforated balls A, B, C, then the centres of these balls are points
upon the right line MN, but not of it, and, whatever their motions may be, the longitudinal components AH, BL, CR
nor do they have any relation to each other, and they need not have either the same magnitude or
do not
But obviously the side components do if affect the line, any two of them are equal, and lie on the same side of MN, the whole line must be translated bodily in the direction of those two, and the side components of all But if motions be assigned to any its points must be equal.
the same direction.
two
lie
of these balls,
MN QY
are unequal
if
they
lie
for example,
their side
and BE, give to A and B the motions are and components respectively, and,
we
AD
AG
BK
must turn about the drawing GK, it is perceived that O where GK cuts it. Moreover, this latter line deterpoint mines the directions and the values of the side components
of the
MN
motions of
all
other points on
MN;
VELOCITY DIAGRAMS.
to the left of O,
at a rate
CP
GK\ any
in like
manner, while
sidewise at
a ball were
could not
move
FIG.
7.
all,
though
it
R
G
might move
velocity.
9.
endwise
in
with any
Now
if,
as in Fig.
8,
we
MN
it is
AG, BK,
of the simul-
taneous motions of two points, A and B, for example, determine the rotation of about O, But supposing to be
MN
AD
the
VELOCITY DIAGRAMS.
must be equal to
This
is
also
true of every point of MN, including O, whose absolute motion must therefore be OQ, AH. Consequently in this
case, since
equal,
and
all
parallel
MN, DQEF, joining the extremities of the resultants, will be equal and parallel to GOKP, joining the exto
the line
Angular Velocity. The linear velocity of a point at unit distance from a centre about which the point travels in a circular arc, is the measure of the angular
10. Representation of
velocity
of
From which
it
follows, that whatever the distance of the point from the centre,
we
shall
linear velocity
radius
If
if it
velocity of
B in
about D,
we have
it
only to
BDL
is
equal to
that
ACK.
of Ay
If
to be
made twice
however,
not done by
10
this
VELOCITY DIAGRAMS.
angle
;
'
doubling
11.
but
we make
AM = 2AK,
In Fig,
and then
BDN
10, let
AB
the
first let
points A and B move in the plane of the paper, in opposite directions perpendicular to AB, with velocities AF, BK\
these motions establish a rotation of the rod about the point If we now add a /, determined by drawing FK. longi-
D'
K
FIG. 10.
EL
tudinal component to the motion of each point, as AE, IG BCj the resultant motions of A and B will become
y
= AD
will
be IG.
7,
Draw, through
and
lines
perpendicular to
;
AD and
IG respectively, intersecting in O draw also DO and GO. Then the triangles AFD, AIO, are similar, whence
VELOCITY DIAGRAMS.
Therefore the angles AOD, GOT, are equal; that is to say, the two points A and / are rotating with the same angular
velocity and in
therefore be true of every other point of This may be at once verified as to the point
we have
AD
-r-^
AF
-jj
;
whence
BK
Therefore the triangles
perpendicular to
Br~~o~r~ or
BKH,
BIO, are
similar,
IG _
and
BH
is
BO.
to the bar
With reference
its
is
called the
during the motion of the bar, it from instant to instant, not only in position changes but relatively to the bar itself and it is found, when space the simultaneous motions of two points of the bar are
;
given, as for example AD, BH, by drawing through each point a line perpendicular to the direction of its motion
And
same
direction.
The
rotation about
<9,
then,
/, in the
velocity,
As
/ may properly
12
It
fall
VELOCITY DIAGRAMS.
is,
as
from
we have seen, the foot of the perpendicular let O upon AB. This fact is sometimes of service in
as, for
instance,
when
the
and
Now,
in Fig. 10,
FK cuts OG in L
and
in the triangles
AIF, IOL, the angles API, OIL, are equal by reason of .the parallels AF, OI\ and the angles AIF, IOL, have already
been shown to be equal.
dicular to AF, IL
is
is
Therefore, since IA
is
perpendicular to
DH, which
is
is
parallel to
FK,
as
the foot of the perpendicular let fall from the instantaneous axis upon the line joining the exis
That
to say,
Fig.
1 1
Normal and Tangential Components. In are shown two pieces turning about the fixed cenMotions
FlG. II.
tres
C and
D, and
in contact at
it
P\
if
as
will
VELOCITY DIAGRAMS.
13
it
Draw
PC and PD\
also
draw
through
P,
TT the common
normal.
NN their common
move
The
in a direction
perpendicular to
PD\
let
its
linear
velocity be represented by PA, which can be resolved into the normal component PE and the tangential component PF.
latter is obviously non-effective it reprethe sliding of along the tangent, and has no merely tendency to move the follower. The motion of the point
;
'sents
must have
also be
PEin
of this resultant
must
lie
AE.
The component
it is
PH
also repre-
will
bePFPtf,
orHF.
Method of Drawing Tangents. Whatever the described by a moving point, the direction of its mopath tion at any instant is that of the tangent to that path, at the
14. Roberval's
position occupied by the point at the given instant. The law of the motion, even in abstract mathematics,
it as dependent and produced by, other motions: thus, for example, a upon,
may
spiral of
any kind is usually defined as the path of a point which travels along a right line, while the line itself revolves
And
motions.
its
component shown in
Let a application to the spiral of Archimedes, Fig. 12. along the right line PQ, point move at a uniform rate from
14
VELOCITY DIAGRAMS.
Pas
shall
making one revolution, the point movefrom Pto^4, then it will trace the curve PEFAG\
be required to draw a tangent at the point O.
and
let it
The two motions might be supposed to take place independently if we first imagine the rotation to be arrested, the
;
FIG. 12
point will move, in the time of one revolution, radially outward through a distance ON equal to PA and we may therefore let represent the velocity of this component.
:
ON
If
we suppose
same time the point will describe the circumference of the The direction of this circle of which PO is the radius.
motion at the instant being that of the tangent to the circular path, we have as the other component perpendicu-
OM
lar to
in length to the
circumference
then,
completing the rectangle, the diagonal OR is tangent at O to the spiral, as required obviously, both components may
:
be reduced
in the
affecting the
of course
independent of
VELOCITY DIAGRAMS.
Since
15
tan.
NOR,
the radius vector can be determined by elementary trigonometry and in its application to many other curves, of
;
high and low degree, a like simplicity characterizes this elegant process. Nevertheless, in his treatise on Descriptive
"
Geometry, Mr. J. F. Heather makes this curious remark This method, which Roberval invented before Descartes had applied algebra to geometry, is implicitly compre:
hended
account
in the
it
where
it
processes of the differential calculus, on which " not noticed in elementary mathematics would seem, on the contrary, to deserve a conspicis
; :
uous place it is certainly more easily comprehended than the calculus, to which indeed it is a natural prelude. At
any
rate, it has a natural and direct application to our present purpose, since in mechanical devices the actual motion of a point is, more often than not, controlled by other
effect
But
in
applying
it, all
must be considered, and all the conditions which may affect the result must be satisfied. This suggestion may at first
glance appear superfluous but it seems otherwise in view of the fact that Mr. Heather, in the only illustration of
;
Roberval's method which he gives, has conspicuously failed The curve selected for this solitary examto act upon it.
ple
the ellipse, traced, as in Fig. 13, by a point moving in such a manner as to keep always taut a thread APB
is
attached by its extremities to the foci A and B. Mr. Heather's explanation is as follows " Since the
:
is
APis lengthened
each instant of the motion by the same distance as the distance BP is diminished. The velocity of the describini_r
i6
VELOCITY DIAGRAMS.
AP
If,
therefore equal to the velocity then, equal straight lines be cut off
is
AP
PNOM be
at P,
FIG. 13.
point.
It is
BPN
formed by one
of the focal
etc., etc.
Mr. Heather elsewhere explicitly states that if the components in two directions are given, whatever their relative
" magnitudes, the method of Roberval consists in completing the parallelogram and drawing the diagonal." In the
above example the direction of the tangent is, undeniably, correctly found in this manner and the same is true if this
construction
applied to the hyperbola, in which the moving point recedes from both foci at the same rate, or to the
is
VELOCITY DIAGRAMS.
parabola, in which
it
17
and the
16.
directrix.
all
In
components are
:
equal;
but the statement above quoted leads us to expect a correct determination whether they are equal or not let us put it In Fig. 14, let A and B be two fixed points, to the test.
with reference to which the point P moves subject to the condition that PB shall always be twice PA. In other
P is
all tri-
which
is
AB is
the
common
of the
two
other sides
it is
clear that P, in
FIG. 14.
from
ting
twice as fast as
it
does from A.
Consequently,
set-
off
on the prolongations of
BP
and AP,
PM = 2PN,
and completing the parallelogram, the diagonal PO should, in accordance with what immediately precedes, be the required tangent. But it can be shown that the path in question is the circumference of the circle whose diameter is DE,
determined by making
BD = 2AD,
and
BE=.2AE.
It is
VELOCITY DIAGRAMS.
obvious that
PO
is
and therefore
A
tions
line
little reflection will show that two important condihave been neglected the point P lies upon the right PA, and must always do so therefore, if that point
; ;
moves
tre
;
as
as a fixed cen-
line
is in fact more complicated than it and really presents a special case of the general problem of determining the motion of the intersection of two right lines
situation
PB.
rotating about fixed centres which therefore must next receive attention. The elements of this problem are embod;
shown
in Fig. 15,
where
steel rods,
these rods
one end and turning about the fixed pins C, D\ upon two sleeves slide freely, and they are pivoted
together by a pin at P, whose axis, perpendicular to the paper, intersects the centre lines of both rods.
The operation
by
first
of this device
may perhaps
be best studied
while
BD turns.
move
supposing one rod, as AC, to be held stationary, The point P of that rod must then at the
in a direction
instant
perpendicular to
BD
let its
The
PC, since the rod AC now forms a fixed guide, along which the sleeve through which it passes is compelled to slide. The other sleeve, however, not only rotates with BD, but can slide along that rod consequently the actual velocity PI of the
:
sleeves
in the direction
found by drawing through G a parallel to BD. Drawing IH parallel to PG, we observe that upon the supposition above made the pin P moves in the direction AC at
pin
is
BD at
the rate
PH.
VELOCITY DIAGRAMS.
19
Next
rod
let BD be held stationary, and let the point Pol the AC move in rotation about C with the velocity PL. By
similar reasoning
we
motion of the
accom-
pin
P to
be
PF in
the direction
BD, and
it
will be
panied by a motion
PE in
FIG. 15
17.
Now
if
ities as before,
both rods rotate at once, with the same velocthe final resultant motion PR of the pin P is
found by considering the partial resultants PI, PF, as components, and completing the parallelogram because, as we
;
have just seen, these are wholly independent of each other. But it is to be noted that P will move toward C with a
velocity equal to PI-{-PE, and toward
with a velocity
equal to
so that
RN perpendicular to AC, we
PM, PN,
AC,
have
P in
the directions
BD,
respectively. Also, since FR, IR, are merely prolongations of LF and GI, it will be seen that having assigned the components of
20
VELOCITY DIAGRAMS.
rotation,
PR may
be at once deter-
mined by drawing
intersect in
perpendiculars to
then drawing
RM
PM and
If
PN, the total sliding components. then, as in Fig. 16, the components PN,
is
PM,
are as-
AC
and
BD
been assigned, the sliding components are found at once as above stated, by reversing this process; and the components of rotation are determined
resultant.
this resultant
Had
as readily
to
adopted
be
in Figs. 13
and
the proceeding which should have been 14. Applying it in those cases, we
Pupon
is
PR
instead of
is
PO\
the direction
magnitude
case
different,
and plainly
when PA and PB are perpendicular to each other: in Fig. 13, when the angle APB is obtuse, as shown at the and when APB is acute, as shown at right, PO is too great
;
And in Fig. 14 it is seen that the left, PO is too small. direction as well as the magnitude of the true resultant PR
the
is
PO
moreover,
it
can be
proved that
path
PR
is
as
it
when
the com-
PM, PN, Fig. 16, are assigned, is in this case prethe same as that employed in Fig. 6. But the condicisely tions are by no means, the same in that instance the lines
ponents
;
VELOCITY DIAGRAMS.
along which the given components
lie
21
intersect always in
the same point A, whereas in this the point of intersection moves along both lines and they both clearly illustrate the
;
method does not always consist in merely completing the parallelogram of two given components and drawing the diagonal. 19. The problem under consideration has thus far been
limited by supposing the fixed centres of rotation to lie upon the lines themselves. It is clearly not essential that
this
should be
;
so,
may be
other-
wise located
and the
where the
rigid rods
into,
and form
FIG. 17.
FIG. 18.
parts of, the arms CS, TD. Suppose, as before, one piece, as ASC, to be held stationary, and let the other move, the
point
to
Pof
PG
the direction
of this
motion
BT, but
PD.
The
it
produce
PS; and in order there must be compounded with PG, the com-
ponent
of rotation, a sliding
component
in the direction
BT:
22
VELOCITY DIAGRAMS.
because by the structure of the mechanism these are the only motions of which the sleeve upon the rod BTis capa-
PI is found by and the sliding along BT; drawing through BT, by drawing through /a parallel to PG which is perble.
Therefore, the
first
partial
resultant
a parallel to
pendicular to PD.
Next, keeping BTD stationary, assign to the point P of the other rod a rotative component PL, perpendicular to PC then by similar reasoning we find the other partial re;
sultant PF,
and
sliding
component PE.
these
two
move with
and the
found by drawing
RN
perpen-
RM perpendicular to PD.
in a position to
the problem still more general, and to determine the motion of the point of intersection of two curved lines rotating about fixed centres. are
We
now
make
In Fig.
of
8,
circular
sleeves pivoted together at P, and, being riveted into the arms JD, QC, are compelled to rotate about the fixed centres D, C.
facility of
Through Pdraw
so
17,
drawn
that these tangents are parallel to BT, AS, of Fig. and that the points P, C, and D, have the same relative
PG
the
partial
Then it will be at once seen that resultant PI must have the direction of the
di~
I/ELOCITY DIAGRAMS.
rection FT, tangent to
it
23
is
JK.
Further explanation
needless,
being now quite apparent that the final resultant PR, and and PN, are determined prethe total rate of sliding,
PM
Going one step farther, it is to be observed that the circular arcs JK, OQ, might be tangent at P to any two
21.
curues whatever, circular or otherwise and supposing those curves to rotate about Cand D, the motion of P at the instant
;
would not be
true that
if
in
It is
the
new curves
But by
this
time
it
should have been perceived that they are not at all necessary any case, and that the motion of the point of intersection of
the two
lines, straight or curved, the rotations alone.
is
in fact
determined by
think, been of
we
by making apparent
to the eye
the reasons for certain steps in the process of finding the And though just such combinations as resultant sought.
these
ones
may not be met with in mechanism, yet very similar may be, and at any rate it has already been shown that
;
the main question has an important bearing on some mathematical problems nor need we go far to find instances in
which
22.
its
solution
may
The same question may be asked in relation scissors with curved blades, shown in Fig.
the
Here C
is
common
and
centre of rotation,
to the
blade,
BT
AS is
Regarding C
as fixed, let
rotation, both of
24
VELOCITY DIAGRAMS.
through
a parallel to BT, and through L a parallel to AS these intersect in R, and PR is the motion of the point of This will be readily seen by the aid of the intersection.
in Fig.
reference letters to be a case precisely similar to that shown 1 8 when the blades are straight, as in the common
;
shears, each
edge
is its
own
is
made
as in Fig. 17.
FIG. 19.
23-
may
direction and velocity of the motion of a point also be determined in many cases by means of the in:
The
stantaneous axis.
fixed centres
A
in
For example In Fig. 20, C and D are the upon which turn the levers CA,DB the points and B are connected by the link AB, which is extended a curved form to P: the motion of A is necessarily per;
pendicular to CA, and letting represent its velocity, it if required to find the velocity of the points B and P. Since
AM
B is
constrained to
move
is
in a direction
perpendicular to DB,
until
they intersect in
then drawing
OM,
VELOCITY DIAGRAMS.
the angular velocity of
2$
this
A around O and
:
must be the
Also, the
same
for
every
ABP.
direction of the motion of every such point must be perpendicular to the instantaneous radius, or line drawn from the
Therefore, point in question to the instantaneous axis. drawing through B a perpendicular to BO, and through Pa perpendicular to PO, the required velocities BN, PR, are
f
,
tf,
or
AOM.
In the present instance this affords, perhaps, the most
/O
FIG. 20.
simple means of determining the motion of P arid since the direction of this motion must be tangent to the path of that point, attention is thus drawn to the fact that by the use of
;
may sometimes
be drawn even more readily than by Roberval's method. 24. But the circumstances may be such that the instan-
taneous axis
is
inaccessible, or that
its
determination
is
un-
36
reliable
VELOCITY DIAGRAMS.
;
in Fig. 20,
one or both of which things would have resulted if, the two levers had been nearly parallel. In this
in Fig. 21
dif-
comparison, being the same as in the preceding figure. The has an absolute component Ae in the assigned motion
AM
direction
AB, and the motion of B must have an equal comsame direction. The actual motion of B
must be perpendicular to BD, and its velocity Ar is determined by drawing through e' a perpendicular to Ae' Draw
.
BP
have an absolute component Bg in this Also draw AP\ direction, to which Pg* must be equal.
;
then
BN
will
then
which
Bg',
in
equal.
Through
g'
draw
a perpendicular to
;
and through/' a perpendicular to Af these intersect R, and PR is the required motion of the point P.
25.
Composition
of
Revolution
and
Rotation.
Numerous
mechanical devices are practically employed, in which one wheel not only rotates about its own axis, but at the same
VELOCITY DIAGRAMS.
time travels
stituting
in
27
axis,
thus con-
what is called a planetary train. Any point connected with the planetary wheel then travels in a path dependent upon both these circular motions, and consequently
The
general principle
is
illustrated
whose centre is C, has its bearings in the train-arm AD, which turns about D as a fixed centre and this wheel may be made to turn in its bearings, indethe wheel W,
;
pendently of the motion of the arm, by any suitable means. Supposing the arm to be stationary, let the wheel rotate as
with such a rate that a pin P fixed in shall move with a velocity PQ, the direction
x,
motion being necessarily perpendicular to PC. Next, suppose PFnot to turn at all about C, and let the
train-arm
move
as
j, the velocity of
FIG. 22.
being represented by AM, perpendicular to AD. Since the arm and the wheel now move as one piece, this will impart to P a motion perpendicular to PD, the velocity being
PN
28
VELOCITY DIAGRAMS.
equal to the angle d. these two movements take place simultaneously, the
$'
Now,
if
be determined by compounding PQ and /W, that is, by completing the parallelogram and drawing the diagonal PR; because the rotation about C and the revolution about D are wholly independent of each
other, both in direction
26.
resultant motion of
P will
and
in velocity.
velocity diagram, we propose to give a series of examples showing how the principles and processes above described
be combined and applied in determining the motions of certain points in detached mechanical movements. It is
may
immaterial whether the combinations selected are, or are not, parts of actual machines, because it would be difficult
to
movement
"
of practical
form
and
27.
In the
first of
CP is
pivoted at
C to
is joined to this lever. Let AL TT, and at A the link be the absolute component of the motion of A, in the line of be the resultant motion of C along the this link, and let
AQ
CM
guide A and P.
;
it is
required to find the actual motions of the points into the components CD in the diResolve
CM
CE perpendicular to it then PH, AF, will be the absolute components of the motions of Pand A in the Draw through L line of the lever, each being equal to CD.
rection PC, and
;
a perpendicular to
a perpendicular to
VELOCITY DIAGRAMS.
29
*
6
30
VELOCITY DIAGRAMS.
these intersect in N, and
PC;
two
AN
is
component of AN is AG and the components AG, CE, determine a rotation of PC about the point/, where it intersects the prolongation of GE.
motion of A.
side
The
side
The prolongation
PR, the required
of
EG
limits
PK, the
side
component of
resultant.
One
the line
this
test of the
to
draw
;
RNM through
test
is
should be parallel to
the prolongation of
PC in
and
Another
drawing, through
perpendicular to
:
PR
by and
all
These intersect in O and not only should marked # be equal to each other, but (9/should be perpendicular to PI, and OB perpendicular to RB.
the angles
28.
CM respectively.
FIG. 24.
is
jointed at
P to
sleeve formed
in the
a rod PR, which slides freely through a outer end of a rigid arm EC, which
VELOCITY DIAGRAMS.
turns about the fixed centre
point P, point
it is
31
C.
PA
of the
required to find the motions of R and of the of the arm EC, and also the rate of sliding of the
rod through the sleeve. The only motions of which the rod
PR is capable, are those of revolving around the centre C, and of sliding endwise through the sleeve. may, then, resolve PA into
We
the sliding
rotative
in the line of the rod, and the component component PM perpendicular to PC. The former
PN
gives at once the rate of sliding, and the latter determines the angle PCM, or /?, which represents the angular velocity
of the rotation
about
is
motion of which
the curved
the point
arm
capable, and EF, the required motion of on that arm, is perpendicular to EC, and limited
also a rotative
by making the angle ECF equal to p. The motion of R has component RH, determined in like manner, and also a longitudinal component RG, = PN; completing
is the resultant sought. the parallelogram, Otherwise, the Instantaneous axis of the rod
:
RB
PR
might
have been found thus draw CI perpendicular to PR, then, in rotation about C, the motion of the point 7 would be perpendicular to CI, and therefore longitudinal in respect to the rod. This must be true also in the rotation about the
instantaneous axis of the foot of the perpendicular from that point upon the rod consequently, that foot can be no other
;
than the point /, and the instantaneous axis O may thus be found by producing CI to cut the prolongation of DP. Then drawing AO and OR we may determine the absolute
motions of
R and
of
to each other.
test of this
may
PA
into
the components
PQ
PS
perpendicular
32
VELOCITY DIAGRAMS.
it
;
manner, then PQ, IW, and RU, should be equal to each other, and 52" should pass through 7.
to
resolve
RB
in a similar
The
point
EV = PQ',
to
this
have an absolute component does not indicate the whole sliding, since
the arm, has a sliding
;
component
is
EJ
the
sum
of these, or JV,
equal
In Fig. 25,
is
the lever
is
DB, jointed at B to the bar ABP. The motion of constrained by the lever AC, which turns about C as a
Given the motion BM,
it
fixed centre.
is
required to find
the motion of P.
be done in three different ways. into the rectangular components BE, Resolve First. BF, then AF' PF" must be equal to ^F and in the same direction. The motion of A must be perpendicular to AC, is
This
may
BM
limited by
F'N perpendicular
to
side
com-
ponent AE'.
Second.
line
com.
by compounding PE" with PF" (Same Figure.) Produce CA to cut BD in O, the instantaneous axis of AP draw MO and PO, also Px
;
perpendicular to
angle
BOM
PO. Construct the angle POy equal to the Px cuts Oy in R, and PR is the resultant
sought.
Third.
solution.
as in the first
Now,
the motion of
P may
be regarded as comto
pounded
by
to
of a rotation
around
is
B and
a revolution around D.
PG perpendicular
;
ABP,
limited
the latter
is
angle
BDM.
PR
is
VELOCITY DIAGRAMS.
33
FIG. 26.
34
VELOCITY DIAGRAMS.
may
is
which may
often advisable to apply such lead to the detection of an error or, what
;
more
30.
Of Rolling Contact.
certain
upon another
line
which
is
itself
stationary,
and may
may perhaps be
is
by
not perfect.
Thus, in Fig. 27, the polygon rolls upon the fixed right line with a hobbling motion in the position shown, the point A is at rest, and the whole figure turns about it as a centre
;
until
comes
into
LM at D
it
about
until
the face
of the
BE
coincides with
"
LM, and so on
itself off
"
measuring
of sides
upon
rolls.
be increased, their length will be less, and the hobbling will be diminished, until, when the number becomes inconceivable, it will be come imperceptible.
the
number
upon which
it
one centre of rotation to another goes on continuously. But this does not alter the facts, that at any instant the
that every point of the curve, point of contact is at rest, and as well as every point rigidly connected with it, is at the
instant turning about that point ofcontact as a fixed centre.
In this case the polygon, being a regular one, ultimately becomes a circle and when it does, the path of its centre is
;
And
upon
it
will
now
is
be apparent
the resultant
is
tangent
VELOCITY DIAGRAMS.
of a rectilinear translation indicated
rotation about the centre
35
/,
by the arrow
and a
C of
arrow
ence
r.
On
LM set off AN
then if the ABE, and erect the perpendicular circle, without rotating, be moved bodily to the right until
;
NC
C reaches
have been
and
this is
pure sliding contact. On the other hand, we may suppose C to remain fixed, and the circle to turn as shown by the arrow r through the angle EGA, or 90; then every point of
the quadrant the single point
sliding contact.
ABE
A
will
of
have been brought into contact with the tangent, and this also is pure
these two motions take place simultaneously and uniformly, it is obvious that the circumference will
31.
But
if
measure going to
itself off
'
upon the tangent, the point I on the arc on the tangent, 2 going to 2', and E going to N.
points of the arc, then,
The consecutive
come
into coinci-
dence with the consecutive points of the line, each in their order of sequence and this is pure rolling contact no point
;
of either
with more than one point of the other, and the length of the line rolled over is precisely equal to the length of the arc which rolls over it. More-
comes
in contact
over,
it is
due to the
they therefore neutralize each other, leaving the point of contact for the instant stain velocity
and equal
line
LM,
instead
of
being
a part of 'a circle whose centre is D. Set off the straight, then if the point A of the arc' equal to the quadrant
AN
AE
upper
circle slides
AN,
since the
two
circles
VELOCITY DIAGRAMS.
must be always tangent, both C and A must move with the same angular velocity about D. This being true of two
points in the moving circle, must be true of all other points the movement above supposed would therefore bring C to
;
FIG. 27.
FIG. 28.
C, and
to .',
the arcs
AN,CC,
EE
',
all
mon
t is
32.
centre D, and measuring equal angles. That is to say, the motion represented by the arrow one of revolution about D, the centre of curvature of the
VELOCITY DIAGRAMS.
base line
37
LM
which
in Fig. 27 is
LM
is,
in that
In either case, the linear velocity of A, due to the rotation about C, indicated
equal and opposite to that due to the revolution indicated by / the point of contact
by
r, is
being therefore at rest for the instant. This fact of itself seems almost conclusive proof that the
FIG. 29.
is
this,
however,
capable of
still
we
of
importance
in relation to
some combinations
ently to be considered,
established.
38
33. In Fig. 29,
VELOCITY DIAGRAMS.
neither the fixed nor the
moving curve
point
is
circular, but
C is
is
and
that of the
upper one,
at their
common
Let
o, s,
therefore
CD
if
their
common
normal.
to,
represent
the upper curve slide upon the lower, the point o can be brought into coincidence with A of the lower curve
A. Then,
only by a rotation about D, indicated by the arrow r; and the point A of the upper curve can be brought into coincidence with s only by a revolution about C, indicated by
Let the linear velocities of the point A of the upper curve, due to these motions, be represented by Ax, Az, and let these be equal to each other, since Ao, As, are
the arrow
t.
equal by hypothesis, Now let P be any point rigidly connected to the moving The motion of P will be the resultant of rotations curve.
about
ular to
D and C the components are therefore perpendicPD and PC, respectively, and as their values we shall
';
have
A^.PD
AD
A*.
PH
I
PD. AC
PC
PE^PC.AD*
Completing the parallelogram, the diagonal PR is the resultant motion of P. Next draw PA, and also parallel We shall then have to PC, and AK parallel to PD.
AN
PN
and
AC
pN==
PD.AC
PC
PK_AD ""
. * '
CD'
pK
PC.
AD CD
PN PD.AC K- pK-pc.AD'
(2)
'
VELOCITY DIAGRAMS.
39
of Equations (i)
and
(2)
being iden.
their first
members
are equal
i.e.,
PH = PN
PK
PK.
;
But the
angles,
parallelograms
HPE, NPK, are equal therefore the HE, NK, are similar, and the angles RPE,
to
EPA + A PC, =
;
EPC.
Now EPC is a right angle by hypothesis therefore PR, the absolute motion of P, is perpendicular to a right line to the point of tangency A: was drawn from Since
chosen at pleasure, motions of any other points connected rigidly with the moving curve, will intersect in A, which must therefore be
it
and
it
is
perfectly
coincidence with
The
which shows a simple planetary train. The shaft of the wheel W, which rolls around the fixed wheel W, has its
bearings
in
r '
upon
it
The
CP.
line
ily
;
crank-pin
The
and
point
its
shown
in
dotted
is
position, for
:
read-
found as follows
in
one right
line Cda,
and
off,
then in the rolling, o will go to O, 0</then becoming the contact radius OD, while the angle oda will remain unchanged.
;
mO, mo
The motion
of A, for
VELOCITY DIAGRAMS.
VELOCITY DIAGRAMS.
41
be determined as in Fig. 22, since it is the resultant of a revolution around C and a rotation about D these are
;
essentially independent
engagement of th,e two wheels, which is but one of many possible methods of fixing the relative directions and velocities of those
two motions.
in a
much more
simple and direct manner, because O is the instantaneous be the motion assigned to D then the motion axis. Let
DN
of
A must
its
and
velocity
AM
OA,
is
AOM
equal to the angle DON. If it be further required to find the velocity of P, the
argument
should be
is,
AP
component
be
set off
equal to
AL
AM,
and
at its extremity a
perpendicular to
AP should
erected, which would cut CP produced, at a point limiting the required resultant. This, obviously, would result in the construction of a right-angled triangle similar and equal to ALR, formed by drawing through A a parallel to CP, cutas (produced if necessary) in R which gives ting the required velocity of P. This abbreviation may evidently
;
ML
AR
be employed
link
is
is
any case where the motion of one end of a given, and that of the opposite end in a given direcin
tion
required.
Fig. 31 also exhibits a simple planetary combination,
35.
in which,
however, the central (or sun) wheel IV is not" fixed, but turns freely about the axis C. The planet-wheel is rigidly secured to the connecting-rod LP, the point P being made to travel in the line CP; and the two wheels are kept
gear by means of the link CD. This arrangement is known as " Watt's sun-arid -planet wheels," having been emin
VELOCITY DIAGRAMS.
VELOCITY DIAGRAMS.
43
ployed by the illustrious engineer as a substitute for the crank, upon which, as connected with a rotative steam
engine,
If,
a patent.
now, we
D a velocity DN.
PQ
of
the motion of
P is
ascertained, as usual,
lute longitudinal
by making
equal to
DB,
the abso-
DN, and drawing QR percomponent pendicular to DP. It is next to be noted that the motion of consists of a revolution about C and a rotation about its
own
it
centre
D\ and
the
same
is
is
wheel.
Resolving
PR
accordingly,
PE
is
that of rotation.
represented by the angle PCE, which of course is equal to DCN\ and AJis the linear velocity oi A, due to this motion.
the rotation
is
represented by the
AM
the
angular velocity of
36.
W.
accuracy of both the analysis and the be applied by producing DC to cut the may of EP in (9, the instantaneous axis of the planetprolongation and RO\ then the wheel and its attached rod. Draw
test of the
construction
NO
/3
M\
NO
of
means
*
A M when
determining
given, and vice versa. is constant, It is quite apparent that if the velocity of will vary, unless is infinite, then the velocity of
is
DN
DP
having a motion
if
of circular translation
turns uniformly, the motion of Consequently the law of variation in the piston speed will
44
VELOCITY DIAGRAMS.
be different in an engine in which this arrangement is used, from that obtaining in one provided with an ordinary crank,
the main shaft revolving uniformly in each case. If the circumferential velocity of be assigned, as AM, the
velocity of
it,
P may
it,
be found thus
component
AK
perpendicular to PA otherwise find the instantaneous axis O, and make the angle FOR equal to the angle AOM.
PH equal to
37.
and draw
HR
which W,
W, are
the pitch circles, turn about the fixed centres and C. In the front face of is fixed a pin B, turning freely in a
block, which
slides in a slot
formed
in
lever
extremity F of
pin A a link AP.
y
the other
arm
is
is
hung
a swinging lever
the front face of /^projects a connected with the free end of the swinging lever by
FP\ from
Considering A as the driving point, and assign(necessarily perpendicular to the ing t'o it a motion radius DA), it is required to determine the motion of P.
AM
on the circumference of W, at which point draw a tangent, limited by its intersection at L with the prolongation of JL thus determined is the circum-
Produce
DA to/
DM
W.
-,
ferential velocity of
That
of
is
necessarily the
same
therefore,
producing CB
draw the tangent J'L' equal to JL draw CL' and at B draw a perpendicular to CB, cutting CL' in N\ then BN is the linear motion of B. Resolve BN into two components,
,
one
tudinal
in
of
BE, the other perpendicular to it; the longicomponent merely produces a sliding of the block the slot, but the side component Bd establishes a rotation the bent lever about E, of which the angular velocity is
in the line
VELOCITY DIAGRAMS.
45
46
VELOCITY DIAGRAMS.
/?,
or BEd.
must
a direc-
EF
so that
linear velocity
FQ
is
equal to
/?,
and the
FQ along PF is
A
;
Fe, to
which
Pe'
must
ab-
be equal.
its
motion
to
AM has an
component Aa
in the line
a'
y
AP,
Then, erecting at
PR.
In Fig. 33, the planet-wheel
38.
W,
its
which
rolls inside
one arm of a bent lever CDE, which turns tremity C about D the centre of W. At the extremity E of the other
arm
of this lever,
is
the bearing of a pin which projects from arm or lever F, and is made in one
of this
arm
is
formed into a
an eye,
fitted
upon
a pin B,
which
is
wheel and projects from its front face. Finally, to the free end of EFis pivoted the link or connecting-rod FP, of which
the farther end
P is
made to travel in the line PD. the moment the annular wheel
W to
be
revolves about
CDE
CB
and the bent lever BEF'is precisely the same in this figure in this case the sliding in the as in the preceding one
;
direction
BE
whereas
in Fig. 32 it
VELOCITY DIAGRAMS
47
48
VELOCITY DIAGRAMS.
of the block at
B in
the
/>
C causes Fto
Now
when
this vibration
CDE is made to revolve about D, on as before, so that the length of the goes virtual crank-arm DF, by which P is actuated, is continually
is
replaced and
W
r.
Let
C turn
will rotate
in the
Assign to
Ca velocity CM,
A
then
will
its
angle CAM\ the motion of /.'will In- |>erpenilirnlar to the instantaneous radius AB, and its linear velocity TWis deter-
mined by making the angle BAN equal to CAM. to />/', the anisic is /'/ motion of j.ci pemliciilar
/:'
The
/'/>/
being made equal to the angle CDM. The absolute comare Bb, Bn those of EL are Ee, Eh. Join poncnts of
BN
components by the
This point
is
rotating; and by reason of the connection between 7i7'"and MS, it is clear that EF must also rotate about /, in the same direction and with the same angular velocity*
which
ns
is
F has
component
of rotation
FK
made equal to the perpendicular to //, the angle /7A~ being angle EIe\ and also a component of translation /'// parallel
and equal to Eh.
of/
f>
is
line of
77% to
Completing the parallelogram, the motion This has a component FJ in the which /X? is equal; then draw at (J a perpen7YJ, the line of travel, in
A',
dicular to
PF cutting
and
7ltf is
40.
Now,
VELOCITY DIAGRAMS.
their instantaneous axes
tli
4>
must lie in a perpendicular to BS This perpendicular cuts the prolongation of rough AB in G, which is the instantaneous axis of S\ and it cuts
/.
DE in
ft
0',
The
actual motion
of the point
E on BS is EH
FG
OE
is
is
perpendicular to
EH\
also,
equal to
Eh + En')
O'F*is perpendicular to
the motion of F.
Again, the actual motion in space of the line EF, is determined by the two motions EL> FG\ the absolute components of EL> as above seen, are Eh> Ee> those of FG are Fg, Fe\ Draw gh cutting EF in /'; then it is seen that the motion ot /'/' MUY l>e re^.inleil as a rotation about / as an
instantaneous centre, combined with a longitudinal translation in the line EF.
41. And this motion is equivalent to a rotation about an instantaneous axis, which must lie in a perpendicular to
EF
through the
4>oint /';
this
instantaneous axis.
Ami
since
the
lon^ it mlinal
eoui-
Also since ponents must be equal, it at /' there is no side component, the absolute motion of that
point
is in
diagram
at the
the direction FE, and equal to Et* In the small left, this motion, 7V", is seen to be the
component /', perpendicular to IF Flk being equal to the angle Efe), and a com(the angle ponent of translation //A", equal and parallel to Eh.
resultant of a rotative
device for producing aggregate motion, the action of which is at first glance rather obscure, is shown
42.
A peculiar
in Fig. 34.
It consists of
\
fixed centre D
a crank AD> turning about the a connecting-rod AB, and a lever BC> which
as a fixed centre.
vibrates about
Upon
the pin
are
VELOCITY DIAGRAMS.
4*
VELOCITY DIAGRAMS.
51
hung the wheels Wand X; these are secured together, and turn freely on the pin, and engages with a wheel F, which turns freely about its centre C.
A
V,
wheel
U is
cates motion to
whose bearing is the pin E, fixed in the connecting-rod. In this arrangement the crank AD is the driver, and the
the wheel F; given the velocity of the is to find the circumferential
ultimate follower
needs no argument to show that if this problem be attacked analytically, any formula expressing the action of
such a train will be so complicated as to render the solution tedious, if not difficult; but if treated graphically it is both
simple and easy, and requires only the application of principles already explained.
Supposing the crank to turn to the right, let repreinto the rectangular sent the motion of A. Resolve
AM
AM
Aa draw
;
at a'
AB, and
BN represents
At
and
draw
PQ
;
intersection with
CN.
perpendicular to BC, and limited by its Suppose for the moment the wheel
there would then be nothing to cause
W to be removed
BC would move
as
one
and
PQ
wheel
But when W is restored, this value PQ will be affected by two things; of which the more important is due to the rotation of F about its centre E caused by its engagement with U, which is secured to the crank AD.
t
52
VELOCITY DIAGRAMS.
In order to determine the velocity of this rotation,
draw
TT, point F, and join and BN. bb' the extremities of the side components of Then bb' cuts TT in (9, and FO is the tangential component
tangent to
their
U and V at
common
AM
of the point
removed.
F on the circumference of V, supposing U'to be But Fis also a point on the circumference of U,
when
so considered
is
and
its
absolute motion
FG, perpen-
dicular to
FD, and limited by constructing the angle FDG, ADM. Draw 677 perpendicular to TT\
then
is the tangential component, and is the circumferential velocity of F, in its rotation about E the direcThis rotation will tion being as indicated by the arrow v.
FH
OH
impart to
W an
therefore
we make KJ, the common tangent of Fand W, equal to OH. Draw JB to limit LS tangent to X and parallel to JK, then
LS should
rotation of
43.
PQ
on account of the
V about
this is
its
centre E.
;
is
not as previously stated, the value PQ another thing, which is due to the motion of by This the link AB (carrying V with it), in relation to BC.
But
all
affected
will be clear
all
V did
not turn at
K on
circumference would
still
of bb'
be imparted to W. Draw./Z? cutting LS in s it will then be clear that PQ must is this case be increased by an amount
equal to LS -\- Ls, which gives PR as the circumferential velocity of the last wheel in the train.
QR
due to the folding up of the link AB upon the lever PC", which will continue until the lever reaches the position 2, the extreme limit ot
It is
is
its
outward excursion.
On
VELOCITY DIAGRAMS.
both
53
of
PQ
and Ls
will be reversed
will
be
PQ + Ls -
goes on continuously
It is also
in the
same
is
direction.
;
evident that
that,
LS
in the other, it is
during each reciprocation of the lever BC, and consequently it will ultimately make complete revolutions about its centre C, in the direction of the
arrow
y.
Now, because
of
Y is
the motion of a point in the circumference reciprocating, and of less velocity in one direction
it
" follows that a " velocity diagram representing the motion will be of the general iormAUCDE in Fig. 35 the point A representing the instant when the wheel
;
begins to turn in the direction of the arrow, the point C the instant of reversal, and the point E the instant when it again comes to rest. Since all this is accomplished during one
AE
Obviously it is desirable that such a diagram should begin and end at zero. But in this case we are confronted at the outset by the question, at what position of the crank
is
of the pin
at
BC
at rest
found to have a definite velocity, which by the processes above set forth.
is
may
be determined
In such a case the construction of the velocity diagram the readiest means of determining the required dead
In Fig. 36,
make FL equal
to
54
VELOCITY DIAGRAMS.
Fig. 35
;
AE of
place the crank in the position iZ>, the lever in the position iC, determine the velocity of P, and set up will the ordinate FG equal to it; then the ordinate
LM
plainly be equal to
FG.
Without entering
GHJM to
FIG. 36.
be drawn
this
when
FL at the Y is at rest.
points
7,
K, which
Then supposing the crank-pin A, in Fig. 34, to start from point i upon its circular path (which corresponds to F in
Fig. 36), divide the circumference of that path into parts
proportional to Ff, IK, KL. The points of division correwill then be the positions of the cranksponding to / and
pin at the instants when the wheel Y is at rest and the positions of the lever BC at those instants can then be read;
ily
found
in the usual
if,
manner.
Now
in Fig. 36,
we
set
back
FN equal to LK and
copy
VELOCITY DIAGRAMS.
the portion
55
in the position GN, we shall have the curve the required diagram, identical in form and arrangeNHIJK, ment with in the preceding figure.
MK
ABODE
45.
part of the combination shown in Fig. 37. The central, or " sun," wheel Wis stationary, as
shown
it
to the frame.
The
shaft
of this
is
and an eccentric
the eccentric
wheel turns freely in its bearings, keyed upon it, in which are the bearings
whose centre
is 6";
thus
has
keyed upon
is
it
the wheel
W
;
The
shaft
at the back,
CE
the eccentric-rod is pivoted at socket which moves upon guides; and this sliding socket carries a pin upon which turns one end of the
in front of the eccentric
to a
lever
FP
and
this lever is
r
,
CE by
a link
EH.
Now
at a given rate,
it
supposing the eccentric to turn about is required to determine the direction and
at the instant
velocity of P's
motion
when
let
is
AM be
is
assigned to
it;
found as shown
by prolonging
DM.
being virtually one piece, are at the instant rotating about the instantaneous axis /, the point of contact between the sun-wheel and its
Now,
the crank
CE and
the wheel
planet.
Therefore, drawing
IM'
IE, and
EL perpendicular to IE,
EIL
then EL,
limited
the angle
must be
equal.
EH, to which Hg' in the same direcDraw AB and produce it, making Ba*
VELOCITY DIAGRAMS
VELOCITY DIAGRAMS.
57
in the line AB and draw equal to Aa, the component of a'N perpendicular to Ba' to determine BN, the motion of B, to which the motion FJ of the point F is parallel and equal.
;
AM
FJ has
and the longitudinal component Fd\ and both in the direction FP must be equal to Fd.
Hd
1
and
Pd"
Draw
ular to
at
'
these intersect in
HK
a perpendicthe resultant
The prolon-
gation of ce will limit the side component Pfoi the motion of P; the longitudinal component is Pd" and the diagonal
,
PR
of the
;
motion
is
the
construction has been correctly made. is the pitch circle of a wheel formed in 46. In Fig. 38,
for the
of the
drawn
same diameter
as the eccentric.
As
at
preceding figure, the eccentric rod is pivoted to a piece which slides upon guides, and carries a proin the
jecting pin
G,
Then A
being the centre of the eccentric, and A representing its the motions >N and its equal Fare determined as motion,
in Fig. 35, so that
of them.
The
on the upper
eccentric rod in this case has a projecting portion side, in which is fixed a pin C, with a wheel w
;
turning freely on it and w engages with W. The smaller wheel has also a projection from its front face, in which is
fixed a pin
by which a
end
is
pivoted at
P to
link is pivoted to it, whose other the lever GP. Then, knowing AM,
we
Pin
tion.
To
GVis
already known,
we
find
VELOCITY DIAGRAMS,
VELOCITY DIAGRAMS.
with reference to
;
59
and longitudinal components, Gh and Gm then, since Pm' must be equal to Gm, it remains to find the absolute component of the motion of P, or, what
side
is
GP its
the same thing, of E, in the line of the link EP. Now, considering the wheel w by itself, it turns on
its
engagement with W\ so that, if the latter were removed, it would move as one piece with the eccentric rod. And the motion of that rod
bearing at
solely by reason of
its
/ (the intersection
of
AB with
the line
of the
bb'
motions of
joining the extremities of the side components A and B), combined with a translation in
the direction
AB,
Aa
of the latter
is
already known.
touch each other at the point O on AC', then Oc, perpendicular OI, of such length that the angle OIc is equal to the angle Alb, is the rotative component of the point
translation
is
O on
the connecting-rod
parallel to Aa,
diagonal of the completed parallelogram, is the resultant motion, which would be the same for the point O on the smaller wheel were the larger one removed.
47.
of the point
O on
the wheel W,
is
OS
perpendicular to
limited by
equal to the angle ADM. Now gent to the two wheels, and upon
,
making the angle ODS draw TT, the common tanit let fall
the perpendiculars QE' SJ'\ these, of course, should be equal to each other
f
and to the normal components of the motions OQ, OS. The tangential components OE' OJ lie in the same direction, so
y
,
that
their
the circumferential
about
C.
of per-
we have
E upon
the circumference
,
is
60
VELOCITY DIAGRAMS.
of the
one component
motion of
engagement would be to
;
of the
all
two wheels.
and
is
intents
inaccessible) just as
;
the angle
Eld equal to the angle Alb, is one component, while the Ea'" equal and parallel to Aa, is the other then
EK
is
the resultant
motion upon
lelogram
of
this supposition.
Finally,
this has a
;
component El in the line PE, to which PI' must be equal erecting at I' and m' perpendiculars to PE and PG, respectively,
they intersect
in
R, and
PR
is
P and G are
Pg,
Gh
draw gh cutting
PG
in f,
and
perpendicular to
PG
this
respectively perpendicular to
PR
and GV.
39,
the driv-
ing crank DA, by means of the connecting-rod AB, imparts a vibratory movement to the lever CE\ which, in its turn,
causes the bent lever
tion of the link
link
FGH to
P
EF\
pivoted the
the problem
shown)
is,
And
VELOCITY DIAGRAMS.
61
it
Now
does of simple
levers and links, presents no new feature, except in the two critical positions when the crank-pin A reaches either a
FIG. 39.
or
a'.
CE
The proportions here given are such that CG = EF-\-FG\ so that when A reaches either of the
above-mentioned points, the centre lines CE, EF, and FG, coincide in one line CfeG: the link being thus folded up
upon both
levers,
dead-points.
>
62
It
VELOCITY DIAGRAMS.
is
stated by Prof.
Rankine
("
Machinery and
is
Mill-
work,"
p. 193),
two
levers
indeterminate ;
were
velocities of the
I
also be indeterminate.
propose to
show
that neither of these things is true. and F, in the position under conSince the motions of
sideration, are both perpendicular to the line joining those points, the motion of the link must, at the instant, be one of
rotation about
some point on
EF or
;
its
prolongation, and
of
the
first
step
is
the
method
doing
this
FIG. 40.
The upper part of this figure gives a side view of two levers CA, DB, connected by a link AB, at the instant of collapse. In the movement diagram
is
below,
it
must be understood that CV, DY, do not represent AV, BY, and HW, represent
VELOCITY DIAGRAMS.
the motions of the points A and B, and of instantaneous axis, at the critical instant.
63
H the
required
The
H must be
so situ-
AB
is,
H as
about
FF, or
through H. 2. Because
is
AC and
of
HW must
pass
CV
and
DY shall
through W.
49.
The
lines of this
diagram form three pairs of similar from which the following proporviz.
:
HW~fC HW HD BY" BD
"
f
X BD'
AC
lx
x+
r
<
r_
J+~/whence
3
R'
2rl
Rlr
- rr
'
-~R^~r*'and
this gives
R+r
l+r)
VRlr(R
rl
R+r
Which proves
that the distance of the instantaneous axis
is
64
VELOCITY DIAGRAMS.
of
two
definite
and
of the linear velocities of the points A and B is the same as the ratio of their distances from the instantaneous axis, i.e.,
AV BY
r =
HB
:
AH =
In the figure the proportions are as follows 6r '= -f 1.087, and the resulting values are, / 2.25, 3, The first value is the one taken in Fig. 40 2.587.
R=
AH
is
shown
in Fig. 41.
It
is
apparent that the diagrams can not be constructed with certainty until these values have been computed though the
;
The
minate, and the lengths of the levers fixed, the ratio of their angular velocities must also be determinate. In order to
find its value, let v represent the
r angular velocity of R, v
we
shall
have
VELOCITY DIAGRAMS.
_
''
65
IT'
A T 7"
*
I
v _
*TI'
VX R
_^ X HA
~~
R'
Rx
whence, substituting in this equation the value of found, and reducing, we have finally
r
v'
*,
already
R VRlr(R-l-\-r) - Rlr
VRlr(R
and
=
v*
50
40.
41.
51.
Now
mechanism shown
in Fig. 39.
usually held, I believe, that only the component in the line of the link is effective in transmitting either force or motion from one lever to another. And, so long as there is
any such component, there is no occasion, and, it may be said, no ground, for questioning the correctness of that
dictum.
in
Nor
Fig
39,
yet in the case of a single dead centre thus, the link merely rotates about its instantaneous
;
AB
axis
B\ which
it is
is
reason that
there
force
can not
at
once
so,
although
no component
is
66
VELOCITY DIAGRAMS.
40 to drive, with a constant velocity, for a limited distance on each side of the critical position in that case the velocity of AC will be variable,
Fig-.
;
BD in
of course,
but
it
notwithstanding the fact that there will then be no componfor it has been shown that it must
have a definite value as compared with that of BD. This arrangement, then, seems to present a remarkable exception
the general proposition referred [dnematically or dynamically.
to
52.
It
to,
whether regarded
be (and has been) said that owing to the elasticity of materials, to the impossibility of securing absolute " freedom from " play or lost motion, in short, to the perverse nature of inanimate things and to all that prevents the
may
after
which
there would be a longitudinal component of motion or of Were this the true explanation, this component force.
comparison with its effective lever arm, unless the rotation about A were very considerable " from which it would follow that the levers would " go hard
in
;
So
that,
were the
perfect, the
by the aid of momentum, even if friction were entirely eliminated and if once stopped upon that line, no force applied to either
levers could only cross the line of centres
;
lever could
53.
move
the other.
of the action ol a
But a study
model made
for the
Stevens Institute of Technology leads me to the conclusion that the exact contrary is the case. The proportions of this
model are the same as those of the figures accompanying this article and the levers pass the critical position with the
;
VELOCITY DIGRAMS.
greatest ease.
67
From which
the instanta-
neous
axis,
Another interesting point in regard to the action of the model is this that when the levers are placed on the line of centres, the mechanism exhibits no hesitation in making
:
two
neous
axis.
If
the lever
BD is
moves
is
as indicated by the diagram in Fig. 40 but when the driver, the motions correspond to Fig. 41. It may be added, in conclusion, that the dead points may
AC
when
the
two
same direction
many ways, the diagrams may present appearances very unlike those here given. But this method of reasoning may be applied in all cases and in no one of them will the veloc;
ity ratio be
found indeterminate.
"
"
MOTION PRODUCED
BY ELLIPTICAL WHEELS.
54.
In Fig. 42,
C and
D are
continuous rolling contact, the two ellipses must be identical, each must be centred upon one of its foci, and the
in
move
major axis in practice, both wheels must be provided with teeth, which are omitted in the diagram, since the action is
;
by consideration
Since the point of contact must always lie upon the line of centres CD, its motion must be perpendicular to that line,
68
VELOCITY DIAGRAMS.
its linear
and
velocity
is
it
be regarded as
thus, letting
z/=
v
f
"
,
"
C,
we have
PC
7
and setting off the equal elliptical arcs PEK, PIJ, then, when J and meet, we shall have
v
,
JC = -j-r~
or,
K with
may be
written v
*7
_ KF ~
KD'
that
In order to bring and into coincidence, it is apparent while the driver turns as indicated by the arrow,
in
through the angle PDK, the follower must turn opposite direction through the angle PC/; and this,
be noted,
55.
is
the
to
it is
PFK.
and proportioned that
These
PC and PF are
respectively perpendicular to the major axes; and G, the and, producing these lines to cut the ellipses in arcs Plffand are equal whence it follows that while the driver turns through the angle GDP, the follower will
PEG
While
plete its
it is
half,
com-
VELOCITY DIAGRAMS.
than
69
GDP\
since the
two
necessarily revolve in
of rotation.
have equal perimeters and equal times about their fixed centres
ellipses
the follower at any point A in the major axis, actuate a link whose farther extremity B is constrained by guides (not shown) to travel in the line of that
let a pin, fixed in
Now
axis,
B
the
AL = 2AC
it
will
make
along that line will be equal to upward stroke while the driver
turns through the angle GDP, and the downward stroke while the driver is completing its revolution. If, then, the
driver turns uniformly, the down stroke of which greater time than the up stroke
;
B
is
will
required in a
calls
"slow
and a
advance
'"
"
making the
quick return for saving time while no work is done. As here arranged, the cut would be made on the down stroke,
"
"
and by the
pull
of the link
this is
been below
the
in
both arrangements have been used practice, but the kinematic action is the same whichever
push
be adopted.
56. Now if, in the design of a shaping machine to be actuated by elliptical wheels as above shown, the ratio of the times to be occupied by the advance and the return be
assigned, the
first
thing
is
the manner
doing this may also be illustrated by Fig. 42. Let the time of the return be to the time of the advance as m is to #,
for instance
;
horizontal line
then about any point on the indefinite describe a circle with any radius MD.
HN
?o
VELOCITY DIAGRAMS.
Divide the upper semicircumference into a number of equal and set off MFequal to m parts, parts represented by m '= n parts. Draw DF and produce it this will be then FN
draw
at
Fa
HN in P;
and
then
the
is
a point
F are
foci,
and the
equal to
to PF-, produce
FP
to
In the figure, the advance is assumed to occupy three times as many seconds as the return that is to say, m = i, n 3, consequently
;
and
the semicircumference
MFN
is
and
equal
may
be operated
by a crank keyed in any convenient position upon the shaft of the driven ellipse, with the understanding that it must be
ellipses
occupy the
relative
is, to construct a diagram reprethe varying velocity of senting throughout the revolution of the driving ellipse, whose angular velocity is assumed tobe constant. In order to do this, we must be able to deter
mine
at
of the crank-pin
(which, for the sake of simplicity only, has been placed in the focus of the driven ellipse). The direction of A's motion is known, being always perpendicular to AC, which line
revolves about
In determining
C in
its
a direction opposite to that of the driver. velocity, we have only to remember that
angular velocity may be represented by the linear velocity of a point at unit distance from the axis (the magnitude of
this unit, for
and
VELOCITY DIAGRAMS.
FIG. 43.
71
FIG. 42.
72
VELOCITY DIAGRAMS.
we have already shown that the angular velocities of the driver and follower are inversely proportional to the radii
of contact, at any given instant.
Assuming
pleasure instance
CA, which
is
equal to DF, as
F any
linear velocity at
from what precedes we shall have, when for J and meet upon the line of centres,
KF-.KDr.lm.
vel.
Film.
vel.
A.
The required
velocity of
A may
graphically as in Fig. 43. Upon either of two lines interat any convenient angle, set off from the dissecting in
tances KF, ATZ^taken from Fig. 42 on the other line set off KV, the assigned linear velocity of F\ draw VF, and through
;
in V\ a parallel to it, cutting the prolongation of then is the required linear velocity of A, since by similar triangles we have
KV
KV
KF'.KD-.KV'.KV.
repeat in Fig. 44 the construction for determinrepreing the velocity of B when that of A is known the position of the crank, that of the link, and senting
58.
;
We
AC
AB
CB
Let
AM,
this has a
component
Am in the
line
UN must
be equal.
CB
in R,
at
as
by drawing AR'
tion of
parallel to CB,
Mm
in
it
perpendicular to
is
AB,
AmR'
thus formed,
similar
Now,
required,
constructing a velocity diagram such as is is clearly advisable not to select random points
VELOCITY DIAGRAMS.
01 contact
73
like
K and 7 in
FIG. 45.
systematic manner. For the purpose of showing clearly how this may be done, we have in Fig. 45 reproduced the
driving ellipse in the same position as in Fig. 42
;
PD
being
74
VELOCITY DIAGRAMS.
initial
the
PDG
the "
measuring
circle
"
large enough to lie well outside the ellipse, as in the figure, and produce DP, DG, to cut its circumference. Divide the quadrant which measures the angle PDG into any number of equal parts, and from the points of division, I, 2, 3, etc.,
draw
a, b,
c,
ellipse at
etc., to
The
evidently
become contact
so,
points
the cor-
responding positions and velocity of the crank-pin A are to be determined as above explained in reference to the point JC in Figs. 42 and 43, and finally the velocity of B for each
position
59.
is
These values
of that portion
XUY vi the
Any
curve
in Fig. 46,
which pertains
distance
sas, representing the time occupied by that stroke, is divided into as many equal parts as the quadrant in Fig. 45 any
point of subdivision, as b for instance, represents the instant when the corresponding point of the ellipse in the preceding
figure
becomes a contact
point,
the velocity of
B at
that instant.
is
made during
next divided into any convenient number of equal parts as indicated by the figures i, 2, 3, etc., inside the circumference in Fig. 45 in Fig. 44, YZ'== ^XY is similarly
ing circle
is
;
subdivided, and the diagram is completed bv setting up at each point an ordinate representing the velocity of B at the
VELOCITY DIAGRAMS.
instant represented
75
by that
point, ascertained
by construc-
Now, since the abscissas represent times and the ordinates represent velocities, and since also
Time X Velocity
it is
Space,
should be equal, each representing the length of the stroke. 60. By the mode of construction, as seen in Fig. 42, the
major axis of the driving ellipse bisects the angles through which it turns during both strokes. And it is practically
advantageous to subdivide both these angles so
Fig. 45, the successive
that, as in
velocity diagram, shall be symmetrically disposed with reBecause, the ratio of the focal distances, spect to that axis.
give any specific directions but, in constructing these or any other curves, it is plain that the points through which
they must pass should be nearest each other where the curvature changes most rapidly; as, for instance, in the
region of
61.
U the
Another diagram
interest
is
where the curve represents the varying angular velocity of the driven ellipse, the constant velocity of the driver being represented by the horizontal line MN. Since
the driver and the follower turn in opposite directions, it and would, perhaps, be more consistent to place
UVW
UVW
76
VELOCITY DIAGRAMS.
is
hardly likely to be lost sight of, and the varying velocity can be more readily compared with the constant one by adopting the arrangement shown in the
a case like this
figure.
The
abode
<Y
1
10
11
FIG. 46,
\
N
U
c
FIG. 47-
B, as determined in constructing the preceding diagram. of Fig. 42 The velocity of A will be greatest when
(corresponding to
tact,
c of
Fig. 45)
is
and
least at the
VELOCITY DIAGRAMS.
opposite ends of the major axes
77
come
together.
In the
ratio,
former
position
we
shall
-
= -^
reciprocal of the other and if either of these positions be selected as the initial one, it is clear that the resulting diagram will be symmetrical with respect to its central ordinate,
is
symmetrically divided by
the
first
its
major
We
Fig. 47,
prefer to
make
ordinate the
least, as
AU\n
where
AM represents
driver, and
it
Since each ellipse completes its follows that the area of the curve
KV
AN, and
portions
62. It
UMX,
XZc, must be equal to each other. may be added that in using elliptical wheels for
of the
ratio
be secured by means of ellipses whose eccentricity varies between certain limits, so that a given pair of elliptical wheels might be used for shaping machines with different
conditions as to the relative times of advance and return
in the
:
course of the investigation it was also demonstrated that for a given ratio between those times, the construction
illustrated in Fig. 42 gives the
minimum
eccentricity.
;
a point of practical importance for since it is clearly impossible to preserve a running balance in the rois
This
tating parts of
mechanism
to
limit.
of this description,
it is
as clearly
advantageous
lowest attainable
78
VELOCITY DIAGRAMS.
OTHER
63.
"
"
MOTIONS.
" represented the device known as the crank and slotted arm," which in various forms has been
In Fig. 48
extensively used for producing the slow advance and quick return motion in shaping machines. is the fixed centre
whose pin P turns in a block which slides freely in the slotted arm CA, of which C is the fixed To the extremity A of this arm is jointed a link, centre. of which the other extremity B is constrained by guides
of the driving crank,
The excursion of the (not shown) to travel in the line KH. arm CA is plainly limited by the lines CG, CI, tangent at
and
F to
AB
arcs
cutting the line of travel of B in //"and K\ these points limit When P is in the the traverse of B in its assigned path.
position shown, let
linear velocity.
PO
perpendicular to
PD
represent
its
Resolve
PO
into
components
PV in
the line
AC, and
PL
perpendicular to it; the former represents the sliding, which is accommodated by the slot, and the latter, PL, is the linear
velocity of the point
Pin
perpendicular to AC, and limited by the prolongation of CL, is the linear velocity of A. The comTherefore,
AM,
in the direction BA is AN, to which BQ must ponent of be equal, and a perpendicular to BA at Q cuts the line
in R,
AM
KH
T
giving BR
As in previous
through
-.since
may
be abbreviated by drawing
MN produced
in
';
the triangle
and equal to
BQR.
64. In this
arrangement
is
CA
VELOCITY
FIG. 48.
79
M N
O
FIG. 480
So
will
VELOCITY DIAGRAMS.
swing through the arc IG while the driving crank turns through the arc FPE, and A will return from G to /while
the crank turns through the remaining part of the circumference,
EF.
if
Consequently,
advance and return be assigned, as for instance as ;;/ is to n describe a circle about any centre D with any radius DP, divide its circumference into m n parts, and make EF
EPF = m
'
parts.
At
E and
.Pthus de-
C':
determines the proportions of the moving pieces and the relative positions of the fixed centres it being obvious that the lengths of CA and of AB, as well as the direction
of
fPs
although
in
practice they are limited by various considerations which need not here be discussed.
The
link,
indeed,
altogether
thus
is
formed into a pin projecting from the front side this pin works between jaws formed or. a piece
the cutting tool
is
of the lever;
S,
by which
and this piece is constrained by to travel in the direction of the arrow. guides (not shown) In this case, the motion of the point A is to be resolved
carried,
AM
into
the
effective,
components AX, and A Y\ the former alone is and represents the resultant motion of the sliding
in a curvilinear
head
S.
65.
slotting machine, the tool being carried directly by a curved extension of the vibrating arm, as shown in Fig. 49. This
work of reducing
the
thickness of portions of the rim of a locomotive drivingwheel W, when the latter had proved not t" be in correct
VELOCITY DIAGRAMS.
:
81
running balance as described and illustrated in Professor Goodeve's " Elements of Mechanism."
FIG. 49.
FIG.
49<z.
here replaced by a disk, provided with a slot to enable the pin P to be fixed at a greater or less distance from the centre D, in order to regulate the length of
is
The crank
the stroke.
This adjustment, however, affects the ratio between the times of the advance and return as the effec;
tive crank-arm
is
will be increased.
82
VELOCITY DIAGRAMS.
it
where
is
DCE'
is
less
than the
follows that
"
In Fig. 50
CDE' is greater than CDE. " crank is shown the modification of the device known as the Whitworth motion
;
differs
instead of outside of it, so the path of complete rotation for each revolution of the driving crank. and F, exactly as in the preThe path of is divided at
of
EF is
C and
;
this
chord
is
movement.
the proceeding
is assigned, In determining the speed of B when that of is precisely the same as in Fig. 48, and since
the
lettered
similarly
throughout, no
shown in Fig. 50 is a working machine, in that form perfectly impracticable as since the shaft C would interfere with the crank DP, if it
projected behind CA, while
slotted
if
it
would interfere with the link AB. These difficulties were most ingeniously evaded by the distinguished inventor, and an extremely serviceable machine
arm
it
in Fig. 51.
The crank
shaft
here replaced by a wheel W, riding loose upon a fixed whose centre is D, and driven by a pinion w\ in the front face of this wheel is fixed the driving crank-pin P.
fixed shaft
The
D has
bored
in it a hole at C, as
shown more
Into this hole projects a pin forming a part of the piece 55, Fig. 51, at the back of which is a slot In the front in which slides a block fitted upon the pin P.
clearly in Fig. 52.
VELOCITY DIAGRAMS.
FIG. 51.
FIG. 50.
FIG. 52.
84
face of
VELOCITY DIAGRAMS.
55
there
is
also a slot in
fixed in
the link
AB can
be
By varying the distance between A and C, then, the length of the stroke may be controlled at pleasure but in this case there is no change in the ratio between the times
;
of the advance
of P, D, and C,
which
fix this
variation of
68.
of
quick return movement, by the use of levers and links only, In this combination, the driving crank is shown in Fig. 53.
DA, by means of the link AB, actuates the vibrating lever BC. To the extremity, B, of this lever is pivoted the link BP, whose free end, P, is constrained to move to and fro in the path HK.
Supposing as before that the time
of traverse in
one
di-
rection along HK\s> to be to the time occupied in the return about is to n, the skeleton movement is laid out thus as
any centre
DA and EAF = m
;
a circle with any assumed radius, as and divide the circumference at so that
D describe
parts, while
FE
parts, as in the
preceding
cases.
first link
AB,
set off
assumed length this locates the the crank being at an inward dead point. Next point /, draw DF and produce it, making/^ also equal toAB then
to this
;
EDI equal
is
when
the crank
it
is
at
an
butward dead
ular,
Draw
IG, bisect
by a perpendic-
and on the bisector take any point C as the fixed cenCB\ in practice the angle ICG should never exceed 60, and if possible it should be less
tre of the vibrating lever
:
the length of
arbitrary.
BP
and the
VELOCITY DIAGRAMS.
85
with no
This being merely a combination of links and levers, new or peculiar features, it is not necessary to give
P when
it
that of
is
given.
EF
may be suggested that in constructing a velocity diagram for either of these combinations, the arc should be subdivided into equal parts, and the remain-
But
FIG. 53-
itself; it
might at first glance appear more expeditious to divide the whole circumference at once but the proceed-
ing suggested will, on trial, be found far more satisfactory. It is to be admitted that the combination in Fig. 53 is
not particularly suitable for use in a shaping machine; but it is given as one of various methods of producing the
required motion, and moreover, combinations essentially the same in principle have been practically employed in various forms of hot air and gas engines, with very satisfactory results.
70. Thus far in determining the motion of a piece driven a lever through the intervention of a connecting-rod, or
by
86
link,
VELOCITY DIAGRAMS.
by means of the motion of the driving point, longitudinal component because the reasoning is clear and simple, and perfect familWe now proceed to iarity with that method is essential.
to the direct process,
of the
we have adhered
explain one or
in
some
cases are
is
more expeditious, although the reason why not by any means so obvious. Fig. 54 shows the crank and connecting-rod
acting steam-engine, the cross-head pin O travelling in the horizontal line OC. At C erect the vertical line CX, and
produce the
cut
line of the
connecting-rod OP,
if
necessary, to
the point A. Then, if the velocity of Pis reprewill be represented by a line equal to CP, the velocity of sented by a line equal to CA.
For, setting off
CX in
PM
drawing MB perpendicular to PA, and PB perpendicular to CA, the triangle PACis similar and equal to the triangle
PMB.
And
it
velocity of P,
PB
/W
is
the
is
CA
equal to PB.
If
for
any reason
it is
of
the crank-pin by a line greater or less than CP, as for instance CL it will now be obvious that, drawing part
LK
allel to
OP, we
shall
have
CK
cross-head pin.
represents the crank and connecting-rod In this construction, PR, the of a direct-acting engine. velocity of the crank-pin, of any magnitude at pleasure, is
71. Fig. 55 also
set off
allel
is
on the prolongation of CP', draw through R a parto PO, cutting at T n vertical line through O, then OT
For,
first
draw
PQ
parallel
VELOCITY DIAGRAMS.
and equal to OT,
dicular to PQ.
Then the
PMB, PRQ,
are similar
we
CL from
FIG. 54-
It
FIG. 55-
FIG. 56.
PO, cutting the vertical through C in K, the triangles CLK, PRQ, are similar, so that CK will be
draw
LK parallel
to
88
72.
VELOCITY DIAGRAMS.
In Fig. 56
a link PO.
we have two levers DP, CO, connected by The construction here is analogous to that of
;
of P, on the prolongation of
DP, draw through R a parallel PO, cutting the prolongation of CO in the point T: then
the velocity of O.
as before
;
OT is
same
And
the demonstration
is
also the
PR, perpendicular to DP, draw also PQ equal and parallel to OT, MB perpendicular to RQ, and PB perpendicular to PQ we have
;
for
drawing PM, =
then,
PQ=OT, =PB.
In order to save the reader the annoyance of referring to preceding diagrams,
we have
of
in Fig.
56 repeated
all
the
PF is
the absolute
PM, and OE
is
is
triangles
PB =
EN
perpendicular to
PO.
equal,
Then, the
we have
And
we
the expeditive processes are correct, is made by proving that they give results concordant with those of the original direct method.
73.
We
resentation of varying angular velocity, in the case of a crank rotating continuously in the same direction. That is
which such a representation is most striking and most readily understood but the same methin
;
and the
dia-
VELOCITY DIAGRAMS.
89
To
illustrate,
we
"
movement,
48
and
in
moves from the position ing arm AC. The slotted arm CE to the position CF while the pin P of the driving crank travels through the arc EZF, and back again while the crankpin describes the remaining arc of the circumference, in this instance the former arc is twice the latter, that
AC
FE\
is, if
used
in a
consequently, in Fig. 58
we make
FIG. 58.
HQ
=
the
2.QT.
In Fig. 57
is
shown
step
to describe
about
C an
BG
with radius
CB
DE.
to the arc
EF, because
EDC
60, whence
CD = 2DE.
90
74.
VELOCITY DIAGRAMS.
Now, when
to to
is
in
any position as
per-
DP, assign
pendicular
P any
PC
PO
the
component PL
point
is
the velocity
of the
on PC.
Then, PC cuts the arcHG at /; and IK, perpendicular to PC and limited by LC, is the value of the ordinate sought.
Then,
in Fig. 58, divide
HQ so
:
that
:
Hi
and
set
t'Q
arc
EP
arc PZF,
HM
P, the rec-
HN represents
HQ,
the space traversed by the crank in which is the arc EZF\ and the area of the
represents the space traversed by the point B in the same time, or the arc 13G, J EZF\ therefore the
curve
HJQ
area of the rectangle should be four times that of the curve. On the return stroke, the ordinates are negative, QR is
FE, the area of the curve equal to PO, and since GB QVTis half that of the rectangle QS. It is hardly necessary to point out that the curves HJQ,
QVT,
UV,
are symmetrical about their central ordinates JW, so that it is only necessary to determine the ordinates
"
"
At the
outset, a
velocity diagram
times,
was defined
as a
represent the velocities, linear or angular, of a moving point at the instants indicated by the feet of the ordinates.
This
is
what
is
gram, and attention has purposely been thus far confined to it alone, because we consider it to be the most explanatory,
useful,
method
of graphically exhibiting
:
but
it
is
not by any
VELOCITY DIAGRAMS.
In Fig.
59,
91
we have shown
"
(Fig-. 50)
;
Whitthe
worth Motion
slotted arm,
DP is
BC the
CA
AB the
link,
Assign to
P any
same
as
velocity at pleasure, determine from that the linear velocity of B, and set down, perpendicular to the line of
for as
many
equal to that velocity. Do the different positions of the crank and arm
B2
may be deemed necessary, and draw a curve through the extremities of the ordinates, for both the advance and the
return.
technically called a velocity-space diagram, and the ordinates of course show the velocity of B in
is
This curve
its
different positions.
it
is
clear, are
constructing the "velocity-time" diagram, Fig. 60: in the former the abscissas represent varying distances traversed,
in the latter
them.
76.
As
a matter of interest,
we
lar velocity-time
is
diagram
for the
same movement
in
which
curve
AM the constant angular velocity of P, and the UVW represents the varying angular velocity of A.
It
is
mum
ward
obvious from inspection 6f Fig. 59 that the minivelocity A U will be reached when both the crank and
the slotted
;
arm
that position, when both point downward. The ordinates of the curve are numbered to correspond with the subdivisions of the circles of Fig. 59; and
it
is
to be noted that
at
MN
at
the
point
coincident
with
is
the ordinate
8-8,
which instant
horizontal.
The
92
VELOCITY DIAGRAMS.
VELOCITY DIAGRAMS.
is,
93
it
two
ratio.
to
one
This
but
is
of interest
whatever the
may be demonstrated by
1
the aid of
Fig
62,
where
of
velocity
P,
PB PF
is
the assigned
the
component
effective in driving
sultant velocity of A.
CA =PC.PB\
also,
PC. AR
FIG. 62.
Q. E. D.
77.
also be represented
by a curve
is
called a
Thus
in Fig. 63,
;
in Fig. 59
its
circumference
is
similarly subdivided, and on the radii are set off the corre-
sponding angular
the slotted
velocities,
The
re-
show
arm
in
any given
position.
in Fig.
but
it
is
that figure.
divided into equal parts like the path of P in The distances set off on the radii are the same
as in Fig. 63,
arm at equal intervals of time. obvious that similar diagrams could be made quite to represent the linear velocities of A at different points, or
velocities of the slotted
And
it is
at different times.
94
78.
VELOCITY DIAGRAMS.
Fig. 65 represents the crank, link,
movement
that
was given
in Fig. 53
FIG. 65.
ducing a slow advance and quick return motion. The linear velocities of B in its different positions are laid off from the
VELOCITY DIAGRAMS.
arc
95
IG upon
is
lines radiating
from
curve
in effect a
These
velocities,
method
of
Fig.
56
correct.
For,
when
is
drawn
;
in
heavy
lines,
consequently, linear
velocity
linear velocity
'
OA OB\
:
OAB,
79.
another
shown
in Fig. 66,
mode of representing varied motion is the movement being merely the crank,
FIG. 66.
The
is
parts at i, 2, 3, etc., which represent equal intervals of time; and on the radii through these points are set out from the
centre, the velocities of
instants
is
for
The
motion
96
VELOCITY DIAGRAMS.
line
by a
ities are, as
instantly appeal to the eye, or explain its own message so clearly, as those do in which the radial ordinates, as in
Figs. 63
and
them-
selves in circular
80.
movement.
diagrams
is
nowhere more conspicuous than in comparing the actions of different combinations which effect the same result.
utility of velocity
The
the skeleton of an oscillating engine, with the trunnions at the end of the cylinder in Fig. 68 the trunnions are placed at the middle of the length
Fig. 67
is
;
For example,
of the cylinder
and Fig. 69
:
is
the
common
all
necting-rod
equal.
movement
the lengths of
it is compare the piston speeds with each other, and also with the piston speed of another engine
of interest to
The
That
rical
velocity-time diagrams of these four arrangements, left to right, are given in Fig. 70.
is
the
curve marked
this,
is
symmet-
about
its
central ordinate
which
is
also the
maximum,
;
and equal to the constant velocity of the crank-pin the crank-arm being at that instant vertical. 81. Curve No. I shows the piston speed of the oscillating
engine of Fig. 67 the maximum ordinate c, is equal to a, but since this corresponds to that phase of the movement
;
when
is
VELOCITY DIAGRAMS.
97
some distance
curve No.
a.
The engine
similar to No.
i,
of Fig. 68 gives
this is quite
but
its
maximum
ordinate, d,
is still
further
FIG. 69.
to the right
is
comparison
two movements.
curve No.
in
3,
The engine
which
is
strikingly different
having two
98
VELOCITY DIAGRAMS.
b,
ordinates, a and
:
crank-pin the maximum ordinate lies somewhere between these two, but there is no geometric process known for de-
termining
its
exact location.
If,
however, as
o of
in the figure
we find by
trial
sibly agrees with the curve for a reasonable distance in the region of the vertex, a vertical ordinate k through the cen-
tre will,
it is
as
is
Then
the dis-
FIG. 70.
length of the line of abscissas and if the same fraction of the quadrant be set off to the right from the vertical line in
;
movement
at
the
maximum
But
is
velocity will be practically determined. the phases of the movement at which the piston
speed
mined
in a
VELOCITY
82.
DM GRAMS.
CA
is
99
vertical.
Thus
in Fig. 71,
the crank
AB is the
the velocity of A,**nd the longitudinal component, to which Bn must be equal. Drawing nN perpendicular to AB, it is evident that the two triangles AM. And AmM, BnN, are similar and equal, so that
connecting rod,
AM
Am
BN =
this
accounts for the fact that in Fig 70, curve No. 3 cuts curve A at the extremity of ordinate a the crank being verIn order to avoid confusion, the other tical in both cases.
;
phase
is
shown
FIG. 71.
the relative positions of the parts being such that the prolongation of the connecting-rod/*^ shall pass through D, the lowest point of the path of the crank-pin. Let EG, perpendicular to CE, be the velocity of the crank-pin
;
draw
GH
perpendicular to
locity of F.
EH parallel to the path of Fand consequently perpendicular to CD, then EH will be the veFED, also
are similar
;
But by the construction the triangles CED, GEH, and since CE = CD, it follows that EG.
HE=
Now,
rod
EF
the lengths of the crank CE and the connectingare assigned, there is no geometrical method of
if
loo
locating
VELOCITY DIAGRAMS.
or F.
of both points
may
be
always
lie
of the slip
passes through D, mark the corresponding location of F for a number of positions of E. The points thus marked deter-
mine a curve
xy,
F\
the given length of the connecting-rod, intersects the path of the crank-pin at the required point E, determining the corresponding position CE of the crank.
Now,
arrangements are very decided, and of no small interest and it is safe to say that these differences can be more readily
compared, and are made more conspicuous, by the diagrams in Fig. 70, than they could be by any other means
whatever.
83.
As another example,
the
let
and
73.
The
Whitworth movement, which has already been described the second was devised by the writer, with a view of avoiding the sliding in the slotted arm of the In order to do this, the two cranks are connected former. and the method of construction is a short link AB by
first is
; ;
shown
in Fig. 74.
a circle with radius DB the length of Describe about the driving crank, and divide its circumference so that the shall be to the remainder of the circumference as arc
BMF
is
advance
draw
it
VELOCITY DIAGRAMS.
101
102
VELOCITY DIAGRAMS.
the length of this link may be varied within narrow limits, but must always be greater than and less than and finally draw AC, the driven crank. If now we suppose
MN
MO
it
will
be
BMF, A
will
have been
ANE,
;
having the positions DF, CE and that in order to make A describe the other semicircumference and return to its
original
position,
portion
FEB
of its
own
12345678
FIG. 75.
but
ACE
suggestion of using it for In so applying it, the diameter must, evidently, be the line of travel of the remote extremity of the link which moves the tool-holder, as
shown
same
in Fig. 73.
Now,
these two
scale, and constructed to have the same proportion between the times of advance and return and there is a pro;
VELOCITY DIAGRAMS.
103
But the most interesting and valuable comparison is that between the velocity-time diagrams, which, drawn on a
larger scale, are in Fig. 75 shown as superposed the line of abscissas, and the scale of the ordinates, being the same
;
Again, comparisons between angular velocities may be advantageously made in the same manner. When one
84.
58, 61).
But
it
in Fig.
the
levers,
;
BC
and
velocities
may
be de-
the lever
BC by
means
FIG. 76.
of the link
JH
exactly as in Figs.
of
another link
it
and 63 and BC actuates EF by means 5 BE. These two levers were made of the
same length,
construction
velocities of
;
be stated, simply to lessen the labor of for taking that length as unity, the linear
may
and
at
104
ties.
VELOCITY DIAGRAMS.
And
line
of the
one drawn
in the
heavy
lever
it
to the
EF\
seen,
is
the greater, as
KL
is
FIG. 77.
divide the ordinates of one curve by those of the other in their order, we obtain a series of frac85.
Now,
if
we
tions
is
either
equal to, or greater or less than, unity, and expresses the value of the velocity ratio at the corresponding instant.
And by
setting
values,
we may
construct a curve exhibiting the variations of the angular velocity ratio. By inspection of Fig. 77, it will be seen that
the value of this ratio will be unity where the curves intersect, as at 6 on the right and at j on the left, since there
the ordinate
is
the
same
for each.
as
is
the
VELOCITY DIAGRAMS.
limiting value
I0 5
when
as
it
does when
In the nature of things a ratio conveys no idea of direction, 30 that in constructing such a curve the ordinates may
all
be set up on the same side of the line of abscissas, thus requiring but one line for unity value; and this has been done in Fig. 78, in which the line of abscissas is equal in
ANGULAR VELOCITY RATIO DIAGRAM
87654321
length
to
08
FIG. 78.
that in
subdivided
in
the same
manner.
The values ot the ordinates were obtained by dividing those of the curve aaa in Fig. 77, by those of the curve bbb but it is proper to state that all this work has been done
;
purposes only, and of course the results are by no means to be regarded as equal
upon
in
a small scale,
and for
illustrative
in
many
of the
preceding
But
its
a ratio
is
essen-
compound
may be represented by the ordinate of a curve, as in Fig. 78, such a curve conveys no idea of the actual velocities which
106
VELOCITY DIAGRAMS.
Of the two, then, Fig. 77 is far more explanatory and withat more readily understood, since both terms of the fraction are shown at the same time and on the same ordinate. Still, there may be cases in which a comdetermine that value.
parison of variations in angular velocity ratio might be desirable and then the construction shown in Fig. 78 may
;
ACCELERATION.
now to the consideration of some graphical which, while not directly connected with the operations construction of velocity diagrams as heretofore considered,
86.
We
pass
it,
and are
of at least equal
In Fig. 79, mark on the line of abscissas, beginning at zero on the left, the equidistant points i, 2, j>, etc., each rep-
resenting an instant; then the spaces between them will represent equal periods of time. Set up at i an ordinate la,
representing on any convenient scale the distance traversed by a moving point during the first period. Let the distance traversed during the first two periods be represented by an
ordinate 2b, twice as great as la. At the end of three periods, let the distance be three times as great, at the end
of four, four times as great, as indicated
jc,
by the ordinates
4d and so
r
on.
It
points a, b, c, d, etc., will be a right line the zero point; and also, that the difference passing through between any two ordinates will represent the distance trav-
ersed by the moving point during the intervening period thus, 4d la = hd, the distance traversed during three of
the equal periods
first set oft.
Similarly,
drawing through
VELOCITY DIAGRAMS.
c
107
ce,
we have de as
-2
the time
and since
time
;
velocity, J
if
"
;
represents the
ce as a unit of
and
we regard
and accordingly
3d'
is up clearly uniform and may accordingly be represented by a horizontal line through d '; as it is quite obvious that for any is
!
set
equal to dc.
FIG. 79.
/,
the
same process
will give
=
ag
ce
The
line
drawn through
ad)
ment ; and
it is
properly be called the line of displacestraight because the differences between suc-
may
Had
as for
example xy
us suppose the conditions to be such that xy is tanad at the point c. The velocity of the moving point at the instant 3, being measured by the distance which it
let
and
gent to
would travel
in a unit of
time
if
that velocity
were uniform.
io8
VELOCITY DIAGRAMS.
clearly be the
of
would
same
And
at that instant would be ascertained by erecting an ordinate cutting the curve at c, drawing through that point a tangent line and also a horizontal line of a length ce representing the
To illustrate a practical application of this process, us take the crank and connecting-rod movement of Fig.
divided into equal parts, and the corresponding positions of the cross-head pin are determined as usual. Then the
distances 01, 02, 03,
distant points
i,
etc.,
are set
up
2, j, etc., in
between
The
And
being entirely different from anything previously described. setting up the ordinates of this curve at the corre-
in Fig. 80, we can construct the velocity-space diagram. Now in order to test the accuracy of this new method by comparing it with the old, we must know the circumfer-
this is
found by means of
the fact that, as has .previously been shown, it is equal to that of the cross-head pin when the crank is vertical, that is
to say, to the ordinate j-j.
of the
Applying this test, the results two methods were found to be identical, in this case
;
but so happy a coincidence is not always to be looked for, since the new process depends upon the accurate drawing
of a series of tangents,
which
in
VELOCITY DIAGRAMS.
109
no
VELOCITY DIAGRAMS.
unknown geometrical
is
properties is sometimes quite a difficult, not to say an uncertain task; particularly if the curve
very
88.
flat.
the theoretical correctness of this process, however, the argument given in connection with Fig. 79
to
As
is
known
order to give the diagram a more convenient form, the times are set up on the vertical line, as at i, 2, 3, etc., and
the corresponding spaces, as i, 4, 9, etc., are laid off on the horizontal line, and the time-unit is four times the spaceSince the spaces are proportional to the squares of unit. the times, the displacement curve is a parabola, of which F is the axis is the vertex and the horizontal line through
the tangent to which at any point is most conveniently drawn by aid of the property that the subtangent is bisected To draw the tangent at A, then, set off at the vertex.
FG = Fi6,
By
the
same process
as
in
Fig. 8 1, then,
we have
and
BCBA
the instant
Now
BC. being unity, we set off 40, to find the numerical value of BC, we have by
4,
-5-: z>yi
BA
similar triangles,
If this
BC = FG BC = -~~, or
r rL
4
-^-,
whence
BC =
8.
process be repeated, we shall find in a similar manner that the velocities at the instants i, 2, j, etc., are respectively 2, 4, 6, etc., showing that the velocity diagram is a straight line, and agreeing with the well known law 01
falling bodies, that the
the
VELOCITY DIAGRAMS.
89.
in
Now,
ordinates of the displacement curve indicates the velocity (.or the rate at which the displacement is changing), so the
difference between
of the velocity at
curve indicates
the
which the
And by
was applied
we may
Thus
81, exhibiting
change
at
KP
KL
is
drawn, and
PL
-777 J\.
KL =
But
it
nate 5-5
is
made equal
to
LP.
measured down-
ward from
horizontal
is
below the
indicating that the velocity is undergoing which it obviously must be, since the maxiretardation; mum velocity was reached between the instants 3 and 4.
KL,
is
represented by a right
process will
and as
produce another right line, parallel to the axis on which the times are measured. The distance of this line of acceleration
be r
may be found
be
thus
By
be
similar triangles
2
;
we have
ao
TVCM or JJr 4
DC
10
20
whence
the other law of falling bodies, that the acceleration is constant, and equal to the velocity acquired at the end of the first instant, counting from the state of rest as zero.
90.
This process
may
of graphical differentiation;
MN
-,
n Fig-
81, will
how
short
112
VELOCITY DIAGRAMS.
consecutive, the
AM may be, and Avhen A and M become MN will fraction become, in the
.
...
merely
-7-
dy
,
or the
first differential
curve
of displacement, from
derived
by
differentiation.
And
PL
similarly,
representing the
first
differential
second
tion given in connection with Fig. 79 will, we think, make the matter clear to those not familiar with the language of
analysis.
It is to
be observed that
is
in Fig. 81,
the
final
ordinate 66
tangent
PT \s
drawn
to the curve at
PT
angle with the horizontal, than any other tangent which slopes downward toward the right and of those which
;
is made slope the zero point. by the tangent at Consequently, the maxiordinates of acceleration and retardation respectively,
downward toward
the
left,
mum
correspond to the beginning and the end of the stroke which is clearly as it should be in this case.
91.
But
it is
by no means true
given
in Fig. 83,
in all cases
tration of this
is
is
Here
measured by that of its tangent), increases as we recede from the zero point, until the point of
horizontal (which
contrary flexure
is
reached,
when
it
reaches
its
maximum,
VELOCITY DIAGRAMS.
1*3
When
the velocity
is
at a
;
maximum,
is
it
is
the tangent
FIG. 83.
zontal,
it
will slope
downward
to the right
Since the motion begins at zero and ends at zero, it is clear that the retardation and the acceleration must exactly
balance, so that the area of that part of the curve above the
line of abscissas
below.
INDEX.
PAGE
Absolute Components
Acceleration
Axis, Instantaneous
106-113
10
,
Centre,
n
5
Components, Absolute
Longitudinal
4
12
Normal
Side
4
12
3
26, 27
Tangential
12
34-39
60-66
Dead
Points, Simultaneous
Differentiation, Graphical
m,
112 107
10
II
Displacement, Line of
Instantaneous Axis
Centre
Intersection of
Two
18-22
23
Curved Lines
Line of Displacement " " Motion Pilgrim-step Planetary Wheelwork
Roberval's Method of Drawing Tangents
Rolling Contact
107
50-54
40, 42, 47
14
34~39
60-66
n6
*
INDEX.
PAGB
Slow Advance and Quick Return " Motions By Crank and Slotted Arm
67-85
78-81
100-102
67-77
84, 85 82, 83
Whitworth's Motion
Velocity Diagrams
Angular
Velocity Ratio
75
104, 105
Comparison of
Polar
97~i 4
93,95
90, 91
2,
Space
Time
90, 91
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Text-book
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Voltaic Cell
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8vo,
;j 00 3 00
AnalyxiH hy
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8VO,
300
Crehore and Squier's Polarizing Photo-chronograph 8vo, 3 00 Dawson's Electric Railways and Tramways.. Small 4to, half mor., 12 50 " " Dawson's and Electric Traction Pocket-book. Engineering 16mo, morocco, 4 00 Flather's Dynamometers, and the Measurement of Power. 12mo, 3 00 Gilbert's De Magnete. 8vo, 2 50 (Mottelay.) Holman's Precision of Measurements .8vo, 2 00 Telescopic Mirror-scale Method, Adjustments, and Tests 75 Large 8vo, Landauer's Spectrum Analysis. (Tingle.) Svo, 3 00 Le Chatelier's High-temperature Measurements. (Boudouard 12mo, 3 00 Burgess.) Lob's Electrolysis and Electrosynthesis of Organic Compounds. 12mo, 1 00 (Lorenz.) Svo, 6 00 Lyons's Treatise on Electromagnetic Phenomena * Michie. Elements of Wave Motion Relating to Sound and Svo, 4 00 Light Niaudet's Elementary Treatise on Electric Batteries (Fishback.) 12mo, 2 50 * Parshall and Hobart's Electric Generators..Small 4to, half mor., 10 00
.
Manual
2 50
1
50
2 00
LAW.
Davis.
*
"
Svo,
2 50
7
1
Law
of
00 50
7 50
Manual
Law
"
Sheep,
of Operations Preliminary to Construction in
6 00 6 50
5 5 3 2
EnSvo,
Law
Sheep,
of Contracts
Svo,
Wmthrop's Abridgment
of Military
Law
12mo,
00 50 00 50
MANUFACTURES,
Beaumont's Woollen and Worsted Cloth Manufacture. .12mo, Bernadou's Smokeless Powder Nitro-cellulose and Theory of
. .
50
Encyclopedia of Founding and Dictionary of Foundry Terms Used in the Practice of Moulding 12mo, Eissler's Modern High Explosives Svo.
Effront's Enzymes and their Applications. Fitzgerald's Boston Machinist Ford's Boiler Making for Boiler Makers Hopkins's Oil-chemists' Handbook
(Prescott.).. .Svo,
"
"
Supplement
2 50 2 50 2 50
3 00
ISmo, ISmo,
Svo,
Manual for Steel-users Metcalf's Steel. Metcalf's Cost of Manufactures And the
Workshops, Public and Private Meyer's Modern Locomotive Construction * Reisig*s Guide to Piece-dyeing Smith's Press-working of Metals " Wire: Its Use and Manufacture
10
4 00 3 00 1 00 1 00 3 00 2 50 2 00
5 00 4to, 10 00
8vo, 25 00 Svo, 3 00
Small 4to,
3 00
12mo, Spalding's Hydraulic Cement Spencer's Handbook for Chemists of Beet-sugar Houses. 16mo, morocco,
2 00
3 00
Handbook
ists
for
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5 00
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4 2 2 2 3 2
00 50 50 50 00
50
MATHEMATICS.
Baker's Elliptic Functions
*
8vo,
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Vest-pocket size, pap., 100 copies for Mounted on heavy cardboard, 8 X 10 inches,
:
Elementary
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on
the
Integral
1 50 4 00 1 00 1 50 1 50 1 50 1 50 1 75 1 50 15 5 00 25 2 00
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50
00
3 50
1
50
3 00
3 2 5 2
00 00 00 00
3 00
2 50 2 00 1 00
MECHANICAL ENGINEERING.
MATERIALS OF ENGINEERING, STEAM ENGINES AND BOILERS.
Baldwin's Steam Heating for Buildings Barr's Kinematics of Machinery * Bartlett's Mechanical Drawing Benjamin's Wrinkles and Recipes
11
12mo,
8vo, 8vo,
12mo,
2 50 2 50 3 00 2 00
Gas and
Oil
Engine
6 00 3 09 4 00
1 1
Cromwell's Treatise on Toothed Gearing 12mo, Treatise on Belts and Pulleys 12mo, Text-book of the Kinematics of Machines. Durley's Elementary (In preparation.) Flather's Dynamometers, and the Measurement of Power 12mo, " 12mo, Rope Driving Gill's Gas an Fuel Analysis for Engineers 12mo, Hall's Car Lubrication 12mo, Jones's Machine Design: Part I. Kinematics of Machinery 8vo, Part II. Form, Strength and Proportions of Parts 8vo, Kent's Mechanical Engineers' Pocket-book 16mo, morocco, Kerr's Power and Power Transmission 8vo, MacCord's Kinematics; or, Practical Mechanism 8vo, Mechanical Drawing 4to, 8vo, Velocity Diagrams Mahan's Industrial Drawing. (Thompson.) 8vo, Poole's Calorific Power of Fuels 8vo, Reid's Course in Mechanical Drawing 8vo, " Text-book of Mechanical Drawing and Elementary Machine Design 8vo, Richards's Compressed Air 12mo, Robinson's Principles of Mechanism 8vo, Smith's Press-working of Metals 8vo, Thurston's Treatise on Friction and Lost Work in Machin8vo, ery and Mill Work Animal as a Machine and Prime Motor and the Laws of Energetics 12mo, Warren's Elements of Machine Construction and Drawing. .8vo, Weisbach's Kinematics and the Power of Transmission. (Herr.
.
50 50
3 00 2 00
1 1
25 00
50 09 00 00 00 00 50 50 00 00
3 5 2 5
4
1
3 3
3 00
1
50
3 00 3 00 3 00
1
00
7 50
mannKlein.)
Machinery of Transmission and Governors.
"
mannKlein.)
Hydraulics and Hydraulic Motors.
8vo, (Herr8vo,
8vo, 8vo,
5 00 5 00
(Du
Bois.) .8vo,
500
3 00 2 50
Mover
Wood's Turbines
MATERIALS OF ENGINEERING,
Bovey's Strength of Materials and Theory of Structures. .8vo, Burr's Elasticity and Resistance of the Materials of Engineer8vo, ing Church's Mechanics of Engineering 8vo, Johnson's Materials of Construction Large 8 vo, Keep's Cast Iron. (In preparation.) Lanza's Applied Mechanics 8vo, Martens's Handbook on Testing Materials. (Henning.) 8vo, Merriman'a Text-book on the Mechanics of Materials 8vo, 12mo, Strength of Materials Metcalf's Steel. A Manual for Steel-users 12mo, Small 4to, Smith's Wire Its Use and Manufacture 3 vols., 8vo, Thurston's Materials of Engineering Part II. Iron and Steel 8vo, Part III. A Treatise on Brasses, Bronzes and Other Alloys and their Constituents 8vo, Thurston's Text-book of the Materials of Construction 8vo,
:
7 50
5 00 6 00 6 00 7 50 7 50
4 00 1 00 2 00 3 00 8 00 3 50
2 50 5 00
12
of Materials and an ApSvo, pendix on the Preservation of Timber Elements of Analytical Mechanics Svo,
2 00 3 00
Power
of Heat.
(Thurston.)
Dawson's
"
Engineering
"
12mo,
50
and
16mo, morocco,
Making
for Boiler
4 00 1 00
12mo, 2 00 Button's Mechanical Engineering of Power Plants 8vo, 5 00 " Heat and Heat-engines 8vo, 5 00 Kent's Steam-boiler Economy 8vo, 4 00 Kneass's Practice and Theory of the Injector 8vo, 1 50 MacCord's Slide-valves 8vo, 2 00 4to, 10 00 Meyer's Modern Locomotive Construction 12mo, 1 50 Peabody's Manual of the Steam-engine Indicator Tables of the Properties of Saturated Steam and 1 00 Other Vapors .Svo, " Thermodynamics of the Steam-engine and Other 8vo, 5 00 Heat-engines 8vo, 2 50 Valve-gears for Steam-engines 8vo, 4 00 Peabody and Miller. Steam-boilers Pray's Twenty Years with the Indicator Large 8vo, 2 50 Pupin's Thermodynamics of Reversible Cycles in Gases and Saturated Vapors. (Osterberg.) 12mo, 1 25 12mo, 2 00 Reagan's Locomotive Mechanism and Engineering .8vo, 5 00 Rontgen's Principles of Thermodynamics. (Du Bois.) 2 00 Sinclair's Locomotive Engine Running and Management. 12mo, Smart's Handbook of Engineering Laboratory Practice 12mo, 2 50
.
. .
Spangler's
Valve-gears
Svo, 8vo,
Notes on Thermodynamics
Thurston's
"
12mo,
8vo, 2 vols., 8vo, Part I. 8vo, Part II. 8vo, Thurston's Handbook of Engine and Boiler Trials, and the Use of the Indicator and the Prony Brake Svo, " Stationary Steam-engines 8vo, " Steam-boiler Explosions in Theory and in Prac-
Tables of the Steam-engine History, Structure, and Theory Design, Construction, and Operation
Handy
Manual
3 00 2 50 1 00 1 50 10 00 6 00 6 00
5 00
2 50
1
tice
12mo,
50 00 00 00 50
Manual
Weisbach's Heat, Steam, and Steam-engines. (Du Bois.)..8vo, Whitham's Steam-engine Design Svo, Wilson's Treatise on Steam-boilers. (Flather.) 16mo, Wood's Thermodynamics, Heat Motors, and Refrigerating
5 5 5 2
Machines
Svo,
4 00
Machinery
.
Svo,
Bovey's Strength of Materials and Theory of Structures. Svo, Chordal. Extracts from Letters 12mo, Church's Mechanics of Engineering Svo,
Svo,
2 50 7 50 2 00 6 00 2 00
Cromwell's Treatise on Toothed Gearing 1 1 Treatise on Belts and Pulleys Dana's Text-book of Elementary Mechanics for the Use of 12mo, 1 50 Colleges and Schools 12mo, 2 00 Dingey's Machinery Pattern Making Dredge's Record of the Transportation Exhibits Building of the World's Columbian Exposition of 1893 4to, half mor., 5 00 Du Bois's Elementary Principles of Mechanics: Vol. I. Kinematics 8vo, 3 50 Vol. II. Statics 8vo, 4 00 Vol. III. Kinetics 8vo, 3 50 Du Bois's Mechanics of Engineering. Vol. I Small 4to, 10 00 Durley's Elementary Text-book of the Kinematics of Machines. (In preparation.) 16mo, 1 00 Fitzgerald's Boston Machinist Flather's Dynamometers, and the Measurement of Power. 12mo, 3 00 " 12mo, 2 00 Rope Driving Hall's Car Lubrication 12mo, 1 00 75 18mo, Holly's Art of Saw Filing * Johnson's Theoretical Mechanics 12mo, 3 00 Jones's Machine Design: Part 1. Kinematics of Machinery 8vo, 1 50 Part II. Form, Strength and Proportions of Parts. .. .8vo, 3 00 Kerr's Power and Power Transmission .8vo, 2 00 Lanza's Applied Mechanics 8vo, 7 50 MacCord's Kinematics; or, Practical Mechanism 8vo, 5 00 " 8vo, 1 50 Velocity Diagrams Merriman's Text- book on the Mechanics of Materials 8vo, 4 00 * Michie's Elements of Analytical Mechanics 8vo, 4 00 12mo, 2 00 Reagan's Locomotive Mechanism and Engineering Reid's Course in Mechanical Drawing 8vo, 2 00 " Text-book of Mechanical Drawing and Elementary Machine Design. 8vo, 3 00 Richards's Compressed Air 12mo, 1 50 Robinson's Principles of Mechanism 8vo, 3 00 Sinclair's Locomotive-engine Running and Management. 12mo, 2 00 Smith's Press-working of Metals 8vo, 3 00 Thurston's Treatise on Friction and Lost Work in Machin8vo, 3 00 ery and Mill Work " Animal as a Machine and Prime Motor, and the Laws of Energetics 12mo, 1 00 Warren's Elements of Machine Construction and Drawing. .8vo, 7 50 Weisbaeh's Kinematics and the Power of Transmission. 8vo, 5 00 (Herrman Klein.) Machinery of Transmission and Governors. (Herr8vo, 5 00 (man Klein.) Wood's Elements of Analytical Mechanics 8vo, 3 00 " 12mo, 1 25 Principles of Elementary Mechanics " Turbines 8vo, 2 50 1 00 The World's Columbian Exposition of 1893 4to,
-
50 50 50 50
METALLUKGY.
Ecleston's Metallurgy of Silver, Gold,
Vol. I.-Silver Vol. II. Gold
and Mercury:
8vo, 8vo,
7 50 7 50
and Mercury
14
^ vo Keep's Cast Iron ^flLATHCAS Kunhardt's Practice of Ore Dressing in Lurope 8vo, Le Chatelier's High- temperature Measurements. (Boudouard 12mo, Burgess.) Metcalf s Steel. A Manual for Steel-users 12mo, Thurston's Materials of Engineering. In Three Parts 8vo, Part II. Iron and Steel 8vo, Part III. A Treatise on Brasses, Bronzes and Other Alloys and Their Constituents 8vo,
>
^
1
^
50
3 00 2 00 8 00 3 50 2 50
MINERALOGY.
Description of Minerals of Commercial Value. Oblong, morocco, Resources of Southwest Virginia 8vo, Boyd's " Pocket-book form, Map of Southwest Virginia Manual of Determinative Mineralogy. (Penfield.) .8vo, Brush's Chester's Catalogue of Minerals 8vo, paper,
Barringer's
2 50
300
2 00 4 00 1 00 Cloth, 1 25 8vo, 3 50 Dictionary of the Names of Minerals Dana's System of Mineralogy. ... Large 8vo, half leather, 12 50 " " First Appendix to Dana's New System of Mineralogy." Large 8vo, 1 00 " Text-book of Mineralogy 8vo, 4 00 Minerals and How to Study Them 12mo, 1 50 Catalogue of American Localities of Minerals. Large 8vo, 1 00 " Manual of Mineralogy and Petrography 12mo, 2 00 8vo, 2 50 Egleston's Catalogue of Minerals and Synonyms Hussak's The Determination of Rock-forming Minerals. Small 8vo, 2 00 (Smith.) * Penfield's Notes on Determinative Mineralogy and Record of Mineral Tests 50 8vo, paper, Rosenbusch's Microscopical Physiography of the Rock-making Minerals. 8vo, 5 00 (Idding's.) *Tillman's Text-book of Important Minerals and Rocks.. 8vo, 2 00 Williams's Manual of Lithology 8vo, 3 00
.
MINING.
Beard's Ventilation of Mines 12mo, 2 50 8vo, 3 00 Boyd's Resources of Southwest Virginia Pocket-book form, 2 00 Map of Southwest Virginia Drinker's Tunneling, Explosive Compounds, and Rock Drills 4to, half morocco, 25 00 Eissler's Modern High Explosives 8vo, 4 00 Goodyear's Coal-mines of the Western Coast of the United States 12mo, 2 50 8vo, 4 00 Ihlseng's Manual of Mining Kunhardt's Practice of Ore Dressing in Europe. 8vo, 1 50 O'Driscoll's Notes on the Treatment of Gold Ores 8vo, 2 00 8vo, 7 00 Sawyer's Accidents in Mines Walke's Lectures on Explosives 8vo, 4 00 Wilson's Cyanide Processes 12mo, 1 50 Wilson's Chlorination Process 12mo, 1 50 Wilaon's Hydraulic and Placer Mining 12mo, 2 00 Wilsen's Treatise on Practical and Theoretical Mine Ventilation 12mo, 1 25
15
SANITARY SCIENCE.
(Designing, Construction and Maintenance.) 8vo, 8vo, Water-supply Engineering Fuertes's Water and Public Health 12mo, Water-filtration Works 12mo, Gerhard's Guide to Sanitary House-inspection 16mo, Goodrich's Economical Disposal of Towns' Refuse ... Demy 8vo, Hazen's Filtration of Public Water-supplies 8vo, Kiersted's Sewage Disposal 12mo, Mason's Water-supply. (Considered Principally from a San8vo, itary Standpoint " Examination of Water. (Chemical and Bacterio,
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2 50 2 00 1 50 1 00
2 00
1
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MISCELLANEOUS.
Barker's Deep-sea Soundings 8vo, Emmons's Geological Guide-book of the Rocky Mountain Excursion of the International Congress of Geologists.
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TEXT-BOOKS.
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8vo, Chrestomathy Gesenius's Hebrew and Chaldee Lexicon to the Old Testament Small 4to, half morocco, (Tregelles.) Scriptures.
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INITIAL FINE OF 25 CENTS WILL BE ASSESSED FOR FAILURE TO RETURN THIS BOOK ON THE DATE DUE. WILL INCREASE TO SO CENTS ON THE%E^ALTY THE FOURTH T * N THE SEVENTH OVERDUE.
1
'
AN
193
USE
J95Q
21 MaySlAF
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