Dr. Jamal Naser
Faculty of Engineering & Industrial Science
Swinburne University of Technology
NB: These lecture notes are prepared from “Design of Machinery”(the
book by Robert L Norton and Theory of Vibration by William T
Thompson). These notes will help the students to follow lectures in the
Students should read the book. Students should not depend on
these lecture notes only.
Subject code and title
ES5310 Machine Dynamics 2
Duration and contact
One semester, 60 hours
Courses with this subject
Bachelor of Engineering (Mechanical)
Substantial completion of the Intermediate Stage of the course. (HES2310) Machine Dynamics-1
To develop the ability to solve problems involving the analysis and synthesis of mechanisms and machines.
To develop the ability to design viable mechanism solutions to real, unstructured engineering problems.
Kinematics of mechanisms (25)
nalysis of linkages and four-bar slider crank.
Linkages of more than four bars.
Transmission angles, toggle positions. Types of kinematic synthesis, precision points, two position motion generation by
Matrix solution, three position motion generation, examples of analytical linkage synthesis. Velocity
analysis, instant centres, velocity analysis with instant centres.
Centrodes, slip velocity, examples of analytical solutions for
velocity analysis. Acceleration: Graphical acceleration analysis.
Examples of analytical solutions for acceleration analysis.
Acceleration of any point on a linkage.
Human tolerance of acceleration. Jerk
Mechanics of Machinery (35%)
Cam terminology, SVAJ diagrams, cam design. Rolling cylinders, law of gearing.
interference and undercutting, gear trains & transmissions. Review of the fundamentals of dynamics Analysis of linkages.
Shaking forces and shaking torque, flywheels. Balancing of a four-bar linkage, measuring and correcting imbalance. Slider-
Gas force and gas torque, equivalent masses, inertia and shaking forces and torques.
Pin forces and
balancing in the single cylinder engine.
Design trade-offs. Types of robots:
Joints, end effectors, envelopes, equations of
motion, practical considerations.
Engine Dynamics (10%)
Engine kinematics, flywheels, balancing. Design trade offs and ratios.
Multi-degrees of freedom - matrix formulation and solution (eigen values), principal modes and principal
co-ordinates, forced vibration of systems.
Vibration of continuous system: beams and torsion analysis, finite difference and Rayleigh’s methods.