A

Assignment Questions
For

“Kinematics of Machines”
Session 2023-24

B. Tech. – 4TH Semester

Dr. Abhijeet Ganguly

Associate Professor and Head (Mechanical)

RSR Rungta College of Engineering &

Technology, Bhilai (C.G.), India
Department of Mechanical Engineering
Assignments Questions
UNIT-1
Relative velocity
 Assignment - 1
Q. No. Questions
1 Define machine, mechanism, kinematic pair and their types and kinematic chain
2 Explain inversions of four bar kinematic chain
3 Explain inversions of single slider crank kinematic chain
4 In given figure, the angular velocity of the crank OA is 600 rpm Determine the linear velocity of
the slider D and the angular velocity of the link BD, when the crank is inclined at an angle of
75° to the vertical. The dimensions of various links are: OA = 28 mm, AB = 44 mm, BC = 49
mm, and BD = 46 mm. The centre distance between the centres of rotation O and C is 65 mm.
The path of travel of the slider is 11 mm below the fixed-point C. The slider moves along a
horizontal path and OC is vertical.

5 The mechanism as shown in figure below, has the dimension of various links are as follows: AB
= DE = 150 mm, BC = CD = 450 mm, EF = 375 mm.
The crank AB makes an angle of 45° with the horizontal and rotates about A in the clockwise
direction at a uniform speed of 120 rpm The lever DC oscillates about the fixed-point D, which
is connected to AB by coupler BC.
The block of moves in the horizontal guides, being driven by the link EF. Determine
i. Velocity of block F
ii. Angular velocity of DC, and
iii. Rubbing speed at the pin C which is 50 mm in diameter

6 In the toggle mechanism, as shown in figure, the slider D is constrained to move on a horizontal
path. The crank OA is rotating in the counter-clockwise direction at a speed of 180 rpm. The
dimensions of various links are as follows: OA=180 mm, CB = 240 mm, AB = 360 mm, and
BD=540 mm. For the given configuration, find:
i. Velocity of slider D
ii. Angular velocity of links AB, CB and BD
iii. Velocities of rubbing on the pins of diameter 30 mm at A and D
iv. Torque applied to the crank OA, for a force of 2 kN at D.

7 A pump is driven from an engine crank-shaft by the mechanism as shown in figure. The pump
piston shown at F is 250 mm in diameter and the crank speed is 100 rpm. The dimensions of
various links are as follows: OA = 150 mm; AB = 600 mm; BC = 350 mm; CD = 150 mm; and
DE = 500 mm. Determine for the position shown:
 i. The velocity of the cross-head E,
ii. The rubbing velocity of the pins A and B which are 50 mm diameter.
iii. The torque required at the crank shaft to overcome a pressure of 0.35 N/mm2, and
iv. 4. The acceleration of the cross-head E

8 Fig (a) shows a mechanism in which OA = 300 mm, AB = 600 mm, AC = BD = 1.2 m. OD is
horizontal for the given configuration. If OA rotates at 200 rpm in clockwise direction find:
i. Linear velocity of C and D
ii. The angular velocities of links AC and BD.

9 Draw the velocity polygon for the mechanism shown in figure. Find the angular velocity of link
AB-OA rotating 12 rad/s in counter clockwise direction. All dimensions are in mm.

10 The crank and connecting rod of a theoretical steam engine are 0.5 m and 2 m long respectively.
The crank rotates at 180 rpm in the clockwise direction. When it has turned 45° from the inner
dead centre position determine:
i. Velocity of piston
ii. Angular velocity of connecting rod
iii. Velocity of point E on the connecting rod 1.5 m from the gudgeon pin
iv. Velocity of rubbing at the pin of the crank shaft, crank and crosshead when the
diameter of their pins are 50 mm, 60 mm and 30 mm respectively
v. Position and linear velocity of any point G on the connecting rod which has the least
velocity relative to crank shaft.
Department of Mechanical Engineering
Assignments Questions
UNIT-2
Relative Acceleration
 Assignment - 2
Q. No. Questions
1 Describe Pantograph with a neat sketch.
2 Explain Klien’s construction of acceleration diagram of piston and cylinder arrangement.
3 Explain Coriolis component of acceleration. Also derive expression for it.
4 Explain Hart mechanism with neat sketch
5 Describe the procedure of drawing velocity and acceleration diagram for four link mechanism
6 In the toggle mechanism shown in figure, the slider D is constrained to move on a horizontal
path. The crank OA is rotating in the counter-clockwise direction at a speed of 180 rpm
increasing at the rate of 50 rad/s². The dimensions of the various links are as follows:
OA=180 mm, CB = 240 mm, AB = 360 mm, and BD = 540 mm.
For the given configuration, find:
i. Velocity of slider D and angular Velocity of BD and
ii. Acceleration of slider D and angular acceleration of BD

7 The mechanism of a warping machine, as shown in figure has the dimension as follows:
O1A 100 mm, AC = 700 mm, BC = 200 mm, BD = 150 mm, O 2D = 200 mm, O2E = 400 mm,
O3C = 200 mm.
The crank O1A rotates at a uniform speed of 100 rad/s. for the given configuration.
Determine:
i. Linear velocity of point E on the bell crank lever
ii. Acceleration of the points E and B
iii. Angular acceleration of the bell crank lever

8 In a four-link mechanism, the dimension of the links is as under. AB = 50 mm; BC = 66 mm,

CD = 56 mm and AD = 100 mm. At the instant when ∠DAB = 60°. The link has an angular
velocity of 10.5 rad/s in counter-clockwise direction and retardation of 26 rad/s². Link AD is
fixed link. Determine:
i. Angular acceleration of link BC and CD.
ii. Linear acceleration of E on link BC when BE = 40 mm.
iii. Linear acceleration of the offset point F on link BC, if BF=45 MM, CF=30 mm and
BCF is read clockwise.
9 An engine mechanism is shown in figure. The crank CB = 100 mm and connecting rod BA =
300 mm with centre of gravity G, 100 mm from B. In the position shown, the crank shaft has a
speed of 75 rad/s and an angular acceleration of 1200 rad/s². Find
i. Velocity G and angular velocity of AB.
ii. Acceleration of G and angular acceleration of AB.

10 The driving crank AB of the quick return mechanism, as shown in below fig. revolves at a
uniform speed or 200 rpm. Find the velocity and acceleration of the toolbox R, in the position
shown, when the crank makes an angle of 60º with the vertical line of centres PA. What is the
acceleration of sliding of the block at B along the slotted lever PQ?
Department of Mechanical Engineering
Assignments Questions
UNIT-3
Cams
 Assignment – 3
Q. No. Questions
1 Classify cams according to i) type of shape, ii) follower motion and iii) type of constraint of
the follower. Also explain the classification of followers
2 Define the following for cams:
Base circle, Trace point, Pressure angle, Pitch circle, Prime circle, Pitch Curve, Pitch Point, Cam
profile, Lift of stroke, Cam angle
3 A cam is to be designed for a knife edge follower with the following data
i. Cam lift 40 mm during 900 of cam rotation with simple harmonic motion.
ii. Dwell for next 300.
iii. During the next 60° of cam rotation, the follower returns to its original position with
simple harmonic motion.
iv. Dwell during the remaining 1800.
Draw the profile of the cam when
(a) The line of stroke of the follower passes through the axis of the cam shaft. The radius of the
base circle of the cam is 40 mm.
(b) The line of stroke is offset 20 mm from the axis of the cam shaft.
The radius of the base circle of the cam is 40 mm. Determine the maximum velocity and
acceleration of the follower during its ascent and descent, if the cam rotates at 240 rpm.
4 Draw the profile of a cam operating a roller reciprocating follower with the following data:
Minimum radius of cam = 25 mm, Lift = 30 mm, Roller diameter = 15 mm. The cam lifts the
follower for 1200 with SHM followed by a dwell period of 300, Then the follower lowers down
during 1500 of the cam rotation with uniform acceleration and retardation followed by a dwell
period, If the cam rotates at a uniform speed of 150 rpm, calculate maximum velocity and
acceleration of the follower during the descent period.
5 A cam with a minimum radius of 25 mm rotating clockwise at a uniform speed is to be designed
to give a roller follower, at the end of a valve rod, motion described below
i. To raise the valve through 50 mm during 120 0 rotation of the cam,
ii. To keep the valve fully raised through next 30 0
iii. To lower the valve during next 600, and
iv. To keep the valve closed during rest of the revolution i.e., 1500
The diameter of the roller is 20 mm and the diameter of the cam shaft is 25 mm
Draw the profile of the cam when
(a) The line of stroke of the valve rod passes through the axis of the cam shaft
(b) The line of the stroke is offset 15 mm from the axis of the cam shaft
The displacement of the valve, while being raised and lowered, is to take place with simple
harmonic motion. Determine the maximum acceleration of the valve rod when the cam shaft
rotates at 100 rpm
Draw the displacement, the velocity and the acceleration diagrams for one complete revolution
of the cam
6 The following particulars relate to a symmetrical tangent cam having a roller follower.
Minimum radius of the roller follower - 40 mm, lift = 20 mm, speed = 360 RPM, roller diameter
44 mm, angle of ascent = 60°. Calculate the acceleration of the follower at the beginning of lift.
Also find its values when the roller just touches the nose and is at the apex of the circular nose.
Sketch the variation of displacement velocity and acceleration during ascent
7 The following data relate to a circular cam operating a flat-faced follower: Least diameter 40
mm, Lift = 12 mm, Angle of action = 160°, Speed = 500 rpm If the period of acceleration of the
follower is 60° of the retardation during the determine:
i) The main dimensions of the cam
The acceleration and deceleration during the lift?
8 The following data relate to a symmetrical circular cam operating a flat-faced follower
Minimum radius of the cam 40 mm, Lift 24 mm, Angle of lift 75°, Nose radius 8 mm Speed of
the cam 420 rpm.
Determine the main dimensions of the cam and the acceleration of the follower at:
i. The beginning of the lift
ii. The end of contact with the circular flank
iii. The beginning of contact with the nose
The apex of nose
9 A tangent cam with a base circle diameter of 50 mm operates a roller follower 20 mm in
diameter. The line of stroke of the roller follower passes through the axis of the cam. The angle
between the tangential faces of the cam is 60°, speed of the cam shaft 200 rpm and the life of the
follower 15 mm. Calculate:
i. The main dimensions of the cam,
ii. The accelerations of the follower at,
a) The beginning of lift
b) Where the roller just touches the nose
The apex of the circular nose
10 In a symmetrical tangent cam operating a roller follower, the least radius of the cam is 30 mm
and roller radius is 17.5 mm. The angle of ascent is 75° and the total lift is 17.5 mm. The speed
of the cam shaft is 600 rpm. Calculate:
i. The principal dimensions of the cam.
ii. The accelerations of the follower at the beginning of the lift, where straight flank
merges into the circular nose and at the apex of the circular nose. Assume that there is
no dwell between ascent and descent.
Department of Mechanical Engineering
Assignments Questions
UNIT-4
Gear and Gear Trains
 Assignment – 4
Q. No. Questions
1 Define the following terms:
Diametral pitch, Module, Pitch, Pitch circle diameter, Angle of obliquity or Pressure angle,
Circular pitch, Addendum, dedendum, addendum circle dedendum circle, clearance, Top land,
bottom land, face, flank, Gear ratio
2 State Law of gearing. Deduce expression for law of gearing and velocity of sliding
3 What do you understand by interference in involute gear. Also explain the term undercutting of
gears. Derive an expression for minimum numbers of teeth to avoid interference in involute
gear.
4 Two involute gears in mesh have a module of 8 mm and a pressure angle of 20 0. The larger gear
has 57 while the pinion has 23 teeth. If the addendum on pinion and gear wheels are equal to
one module, find
i. The no of pairs of teeth in contact.
ii. The angle of action of the pinion and the gear wheel.
iii. The ratio of the sliding to rolling velocity at
a. The beginning of contact.
b. The pitch point.
(c) The end of contact
5 Two 200 gears have a module pitch of 4 mm. The number of teeth on gears 1 and 2 are 40 and
24 respectively. If gear 2 rotates at 600 rpm, determine the velocity of sliding when the contact
is at tip of the tooth of gear 2. Take addendum equal to one module, also the maximum velocity
of sliding.
6 Two gear wheels mesh externally and are to give a velocity ratio of 3 to 1. The teeth are of
involute form; module = 6 mm, addendum = one module, pressure angle = 20 0. The pinion
rotates at 90 rpm. Determine;
1. The number of teeth on the pinion to avoid interference on it and the corresponding
number of teeth on the wheel
2. The length of path and arc of contact
3. The number of pairs of teeth in contact and
The maximum velocity of sliding.
7 Two 20 involute spur gears mesh externally and give a velocity ratio of 3. Module is 3 mm and
the addendum is equal to 1.1 module. If the pinion rotates at 120 rpm, determine.
i. The minimum number of teeth on each wheel to avoid interference.
The number of pairs of teeth in contact.
8 In a reduction gear in figure, the pinion S has 15 teeth and is rigidly fixed to a motor shaft. The
wheel P has 20 teeth and gears with S and also with a fixed annulus wheel A. The pinion C has
15 teeth and is fixed to the wheel P. C gears with the annulus wheel D, which is keyed to the
machine shaft. P and C can rotate together on a pin carried by an arm which rotates about the
shaft on which S is fixed. Find the speed of the machine shaft if the motor rotates at 1000 rpm.
9 In an epicyclic gear train shown in figure, pinion A has 15 teeth and is rigidly fixed to the motor
shaft. The wheel B has 20 teeth and gears with A and also with annular fix wheel D. The pinion
C has 15 teeth and integral with B (C-B is a compound wheel). Gear C meshes with annular
wheel which is keyed to the machine shaft. The arm rotates about the same shaft on where A is
fixed and carries the compound with B-C. If the motor runs at 1000 rpm, find the speed of
machine shaft.

10 In the epicyclic gear train shown in Figure below, the compound wheels A and B as well as
internal wheels C and D rotate independently about the axis O. The wheels E and F rotate on the
pins fixed to the arma. All the wheels are of the same module. The number of teeth on the
wheels are: T₁ = 52, T₂ = 56, T₁₂ = T = 36. Determine the speed of Cif:
i. The wheel D fixed and arm a rotates at 200 rpm clockwise.
ii. The wheel D rotates at 200 rpm counter-clockwise and the arm a rotates at 20 rpm
counter-clockwise
Department of Mechanical Engineering
Assignments Questions
UNIT-5
Friction, Belt-Drives, Brakes and
Dynamometer
 Assignment – 5
Q. No. Questions
1 A conical pivot bearing supports a vertical shaft of 200 mm diameter. It is subjected to a load of
30 kN. The angle of the cone is 120° and the coefficient of friction is 0.025. Find the power lost
in friction when the speed is 140 rpm assuming:
i. Uniform pressure
Uniform wear
2 A thrust shaft of a ship has 6 collars of 600 mm external diameter and 300 mm internal diameter.
The total thrust from the propeller is 100 kN. If the coefficient of friction is 0.12 and speed of
the engine 90 rpm. Find the power absorbed in friction at the thrust block assuming
i. Uniform pressure
Uniform wear
3 The thrust of a propeller shaft in a marine engine is taken up by a number of collars integral
with the shaft which is 300 mm in diameter. The thrust on the shaft is 200 kN and the speed is
75 rpm. Taking µ constant and equal to 0.05 and assuming intensity of pressure as uniform and
equal to 0.3 N/mm². Find the external diameter of the collars and the number of collars required,
if the power lost in friction is not to exceed 16 kW.
4 Intensity of pressure on a thrust bearing is not to exceed 40x10 4 N/m². The external and internal
diameters of the collar are 200 mm and 150 mm respectively. What should be the minimum
number of collars for a total axial thrust of 40 kN on the bearing? If the shaft rotates at 600 rpm
and the coefficient of friction, μ=0.08. Determine the frictional power lost for uniform pressure
5 In a flat belt drive the initial tension is 2000 N. The coefficient of friction between the belt and
the pulley is 0.3 and the angle of lap on the smaller pulley is 150°, The smaller pulley has a
radius of 200 mm and rotates at 500 rpm. Find the power in kW transmitted by the belt.
6 A bicycle and rider, travelling at 12 km/hr on a level road, have a mass of 105 kg. A brake is
applied to the rear wheel which is 800 mm in diameter. The pressure on the brake is 80 N and
the coefficient of friction 0.06. Find the distance covered by the bicycle and number of turns of
its wheel before coming to rest.
7 Simple band brake is applied to a shaft carrying flywheel of mass 250 kg and of radius of
gyration 300 mm. The shaft speed is 200 rpm. The drum diameter is 200 mm and the coefficient
of friction 0.25. The dimensions a and l are 100 mm and 280 mm & β=1350. Determine:
i. The brake torque when a force of 120 N is applied at the lever end.
ii. The number of turns of the flywheel before it comes to rest.
iii. The time taken by the flywheel to come to rest.

8 A band and block brake, having 14 blocks each of which subtends an angle of 150 at the center
is applied to a drum of 1-meter effective diameter. The drum and fly wheel mounted on the same
 shaft has a mass of 2,000 kg and a combined radius of gyration of 500 mm. If a force of 200 N
is applied at a distance of 750 mm from the fulcrum as shown in figure, find (i) Maximum
braking torque (ii) Angular retardation of drum.

9 A band and block brake having 12 blocks, each of which subtends an angle of 16 0 at the centre
is applied to a rotating drum of diameter 600 mm. The blocks are 75 mm thick. The drum and
the flywheel mounted on the same shaft have a mass of 1800 kg and have a combined radius of
gyration of 600 mm. The two ends of the band are attached to pins on the opposite sides of the
brake fulcrum at distances of 40 mm and 150 mm from the fulcrum. If a force of 250 N is
applied at a distance of 900 mm from the fulcrum. Find:
i. The maximum braking torque
ii. The angular retardation of the drum
The time taken by the system to be stationary from the rated speed of 300 rpm Taken coefficient
of friction between the blocks and the drum as 0.3.
10 What is dynamometer? What are the different types of dynamometers? Explain the working of
Rope brake and Prony brake dynamometer with neat sketch.