Introduction

Mechanism

Review Vector

Kinematics of Mechanism
Lecture 1

Unggul Wasiwitono
Mechanical Engineering Department

Unggul Wasiwitono
N

Lecture 1

1 / 12

Introduction

Mechanism

Review Vector

Graduate Competence
1

Mastering in Mechanical Engineering basic sciences that leads

to the ability of thinking, taking action, and communication in line
with the era, and having ability to develop continuously their
potential.
Having knowledge and skill in the fields of energy technology,
design engineering, manufacturing engineering, and metallurgy.
Also, the students are having the ability to apply their knowledge
in the activities of productive operation, design, research, and to
develop creatively their knowledge in industries inline with
society needs, moral, and environment.
Having sufficient insight on profession and being able to adapt
and develop their knowledge scientifically and professionally in
the context of improving the human life quality and in the global
society.

Unggul Wasiwitono
N

Lecture 1

2 / 12

Introduction

Mechanism

Review Vector

Learning Objectives and Competency

Learning Objectives
1

Giving the ability to analyze the velocity and acceleration of a

motion mechanism, giving understanding and ability to synthesize
the mechanisms of motion, and provide knowledge about aspects
of kinematics of the machine components.

Competency
2

Able to analyze velocity and acceleration of a motion mechanism,

giving understanding and ability to synthesize the mechanisms of
motion, and provide knowledge about aspects of kinematics of the
machine components.
Having the ability to ask , make comments, answer questions and
cooperation.

Unggul Wasiwitono

Lecture 1
N

3 / 12

Introduction

Mechanism

Review Vector

Subjects

Basic understanding and terminology of particle kinematics and

mechanisms.
Velocity: relative velocity, graphic analysis, auxiliary point,
IC/pole, centrode, analytical analysis.
Acceleration: relative acceleration, graphic analysis, auxiliary
point, Coriolis acceleration, analytical analysis.

The phenomenon of rolling and equivalent mechanism.

Cam kinematics mechanism and gear train kinematics.

Graphics and linkage synthesis, function,path, motion generator,

dimensional synthesis, coupler curve, analytical synthesis,
Freudenstein method.

Unggul Wasiwitono

Lecture 1
N

4 / 12

Introduction

Mechanism

Review Vector

References

Norton, Robert L., Design of Machinery, 3rd ed., McGraw-Hill,

New York, 2004.
Waldron, Kenneth L., and G.L. Kinzel, Kinematics, Dynamics,
and Design of Machinery, John Wiley & Sons, New York, 1999.
Holowenko, A.R., Dynamics of Machinery, John Wiley & Sons,
New York, 1995.
Kimbrell, Jack T., Kinematics Analysis and Synthesis,
McGraw-Hill, New York, 1991.

Unggul Wasiwitono

Lecture 1
N

5 / 12

Introduction

Mechanism

Review Vector

Evaluation

Quiz 1 15 %

Quiz 2 15 %

UTS 30 %

UAS 30 %

HW 10 %

Unggul Wasiwitono

Lecture 1
N

6 / 12

Introduction

Mechanism

Review Vector

Mechanism
1

A mechanism is a group of rigid bodies connected to each other

by joints, to form a closed kinematic chain with one link fixed, to
transmit force and motion
A mechanism is a device that transforms one motion into
another.
2

Machines: Mechanisms which transmit substantial forces,

applying power, or changing its direction.
2.1.1 Terms such as force, torque, work and power describe the
predominant concepts. e.g Differential, clutch, brake.

Engines: When generated forces are associated with the

conversion of energy of high temperature fluids to shaft power.

While a mechanism can be used to transmit force and power, the

predominant associated concepts involve attaining a desired
motion.

Unggul Wasiwitono

Lecture 1
N

7 / 12

Introduction

Mechanism

Review Vector

Mechanism

(a)

(b)

Figure 1: Slider Crank Mechanism

(a)

(b)

Figure 2: Four Bar Linkage Mechanism

Unggul Wasiwitono

Lecture 1
N

8 / 12

Introduction

Mechanism

Review Vector

Basic Concepts and Definitions

1

Kinematics
1

1
1
2

Kinematic element
2

Branch of classical mechanics that describes the motion of points,

bodies (objects) and systems of bodies (groups of objects) without
consideration of the forces that cause it.
Mass of bodies is not considered
Deformation of bodies is not considered
is part of a rigid body, which is used to connect it to another rigid
body such that relative motion between the two rigid bodies can
occur.

Joint (kinematic pair, pair):

3

a connection between rigid bodies, which permits relative motion

between them and physically adds some constraint(s) to this
relative motion. In other words it is the joining of two kinematic
elements.

Unggul Wasiwitono

Lecture 1
N

9 / 12

Introduction

Mechanism

Review Vector

Basic Concepts and Definitions

Degree-of-freedom (dof) of a joint

1

Mathematical means
2
2

is the number of independent parameters that is required to

determine the relative position of one rigid body with respect to
the other which is connected by the joint.

Vector calculus
Matrix calculus

Kinematic variables
3
3
3

Position
Velocity
Acceleration

Unggul Wasiwitono

Lecture 1
N

10 / 12

Introduction

Mechanism

Review Vector

Analysis and Synthesis

Synthesis:
1

Analysis:
2

A process whose output prescribes the sizes, shapes, material,

and arrangements of components so that the resulting
mechanism will perform the desired task.

Techniques allowing for quantifiable evaluation of an existing, or

proposed mechanism.

As engineers, most of our effort is directed towards analysis, but

the goal is always synthesis!

Unggul Wasiwitono

Lecture 1
N

11 / 12

Introduction

Mechanism

Review Vector

Review Vector

Unggul Wasiwitono

Lecture 1
12 / 12
N