MENG550-Mechanical System II
Chapter 13
Engine Dynamics
Part III
All figures taken from Design of Machinery, 3rd ed. Robert Norton
13.4 Equivalent Masses
To do a complete dynamic force analysis on any mechanism we need to know the
geometric properties (mass, center of gravity, mass moment of inertia)
This is easy to do if the link already is designed in detail and its dimensions are
known. When designing the mechanism from scratch, we typically do not yet
know that level of detail about the links’ geometries. But we must nevertheless
make some estimate of their geometric parameters in order to begin the
iteration process which will eventually converge on a detailed design.
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13.4 Equivalent Masses
In the case of this slider-crank mechanism, the crank is in pure rotation and the piston is
in pure translation. So it is easy to determine the motion of their centers of gravity.
Connecting rod (Conrod): Complex motion
Crank: Pure Rotation
Piston: Pure Translation
The conrod is in complex motion. To do an exact dynamic analysis of the conrod, we need to
determine the linear acceleration of its CG for all positions.
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13.4 Equivalent Masses The main goal is to transform the
conrod into two lumped masses:
one at the crank pin and other at
DYNAMICALLY EQUIVALENT MODEL piston
Figure 13-10a shows a typical conrod. Figure 13-10b shows a generic two-mass model of the conrod. One
mass mt is located at distance lt from the CG of the original rod, and the second mass mp at distance lp from
the CG. The mass of the original part is m3, and its moment of inertia about its CG is IG3.
Figure 13-10: Lumped mass dynamic models of a connecting rod
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13.4 Equivalent Masses
DYNAMICALLY EQUIVALENT MODEL
1. The mass of the model must equal that of the original body.
𝑚𝑝 + 𝑚𝑡 = 𝑚3 (13.9a)
2. The center of gravity must be in the same location as that of the original body.
𝑚𝑝 𝑙𝑝 = 𝑚𝑡 𝑙𝑡 (13.9b)
3. The mass moment of inertia must equal that of the original body.
𝑚𝑝 𝑙𝑝2 + 𝑚𝑡 𝑙𝑡2 = 𝐼𝐺3 (13.9c)
There are four unknowns in these three equations, 𝒎𝒑 , 𝒍𝒑 , 𝒎𝒕 , 𝒍𝒕 , which means we must choose a value for
any one variable to solve the system.
Let 𝒍𝒕 = 𝒍𝒃
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13.4 Equivalent Masses
Solving equations 13.9a and 13.9b simultaneously with that substitution gives expressions for the two
lumped masses:
𝑚𝑝 = 𝑚3 𝑙 𝑙+𝑙 𝑏
𝑝 𝑏
𝑙𝑝
(13.9d)
𝑚𝑏 = 𝑚3 𝑙 +𝑙
𝑝 𝑏
Substituting equation 13.9d into 13.9c gives a relation between 𝑙𝑏 and 𝑙𝑝 :
𝑙𝑝 2
𝑚3 𝑙𝑝𝑙+𝑙
𝑏 2 +𝑚
𝑙𝑝 3 𝑙
𝑙𝑝 +𝑙𝑏 𝑏
= 𝐼𝐺3 = 𝑚3 𝑙𝑝 𝑙𝑏
𝑏 (13.9e)
𝐼𝐺3
𝑙𝑝 = 𝑚3 𝑙𝑏
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13.4 Equivalent Masses
For an approximate model with a relatively small error, let:
𝑙𝑝 = 𝑙𝑎
then
𝑙𝑏
𝑚3𝑎 = 𝑚3 𝑙 (13.10a)
𝑎 +𝑙𝑏
and:
𝑙𝑎
𝑚3𝑏 = 𝑚3 𝑙 (13.10b)
𝑎 +𝑙𝑏
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13.4 Equivalent Masses
STATICALLY EQUIVALENT MODEL
We can create a similar lumped mass model of the crank. Even though we intend to balance the crank before
we are done, for generality we will initially model it unbalanced as shown in the Figure below. Its CG is
located at some distance 𝑟𝐺2 from the pivot, O2, on the line to the crank pin, A.
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13.4 Equivalent Masses
A statically equivalent model needs only to have equivalent mass and equivalent
first moments
Requirements for Static Equivalence:
1. The mass of the model must equal that of the original body.
2. The center of gravity must be in the same location as that of the original body.
𝑚2 = 𝑚2𝑎 + 𝑚2𝑂2
𝑚2𝑎 𝑟 = 𝑚2 𝑟𝐺2 (13.11)
𝑟𝐺2
𝑚2𝑎 = 𝑚2 𝑟
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13.4 Equivalent Masses
STATICALLY EQUIVALENT MODEL
The crank pin, point A, has two masses concentrated at it, the equivalent mass of the
crank 𝑚2𝑎 and the portion of conrod 𝑚3𝑎 . Their sum is 𝑚𝐴 . At the wrist pin, point B,
two masses are also concentrated, the piston mass 𝑚4 and the remaining portion of the
conrod mass 𝑚3𝑏 . Their sum is 𝑚𝐵 .
𝑚2𝑎
𝑚𝐴 = 𝑚2𝑎 + 𝑚3𝑎 (13.12)
𝑚3𝑎
𝑚𝐵 = 𝑚3𝑏 + 𝑚4
𝑚3𝑏
𝑚4
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13.4 Equivalent Masses
Example 1
The dimensions and the mass properties of a connecting rod are given below. Calculate the sizes of 2 dynamically
equivalent masses and the location of one if the other is placed at a appoint B.
Given:
Conrod length : 𝑙= 12.5 in; mass : m3 = 0.120 blob; mass moment of inertia: 𝐼𝐺3 = 0.15 blib.in2
; distance to CG: 𝑙𝑎 = 4.5 in;
Solution:
Distance from point B to CG: 𝑙𝑏 = 𝑙 - 𝑙𝑎 = 8.0 in
Distance from CG to the lumped mass at P:
𝐼𝐺
𝑙𝑝 = 3
𝑚3 𝑙𝑏
= 0.156 in
Masses: 𝑚𝑝 = 𝑚3 𝑙𝑝𝑙+𝑙
𝑏 =0.118 blob
𝑏
𝑝𝑙
𝑚𝑏 = 𝑚3 𝑙𝑝+𝑙 =0.0023 blob
𝑏
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13.4 Equivalent Masses
Example 2
The dimensions and the mass properties of a slider-crank linkage are given below. Determine the approximately
dynamically equivalent two-mass lumped parameter model for this linkage with the masses placed at the crank and
the wrist point.
Given: Masses : m2 = 0.060 blob; m3 = 0.180 blob; m4 = 0.160 blob;
Crank CG location as a fraction of its length : r2 = 0.38 in
Assumption: Two-third of the conrod mass is placed at the crank pin and one-third at the wrist pin.
Solution:
𝑚3𝑎 = 𝑚3 2ൗ3 = 0.120 𝑏𝑙𝑜𝑏
Masses:
𝑚3𝑏 = 𝑚3 1ൗ3 = 0.060 𝑏𝑙𝑜𝑏
Two-mass model:
The lumped mass at point A:
𝑚𝐴 = 𝑚2𝑎 + 𝑚3𝑎 = 0.143 𝑏𝑙𝑜𝑏
𝑚2𝑎 = 𝑚2 𝑟2 = 0.0228 𝑏𝑙𝑜𝑏
𝑚𝐵 = 𝑚3𝑏 + 𝑚4 = 0.220 𝑏𝑙𝑜𝑏
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13.5 Inertia and shaking forces
• Objective: Develop the equations of the forces due to the acceleration
using the lumped mass model.
• 2 masses : One at the crank pin A ( mA in pure rotation) and the other is
the wrist pin B ( mB in pure translation)
13.5 Inertia and shaking forces
Acceleration of piston(B) is :
• Free body diagram
Acceleration of mass at A is :
The inertia force is :
13.5 Inertia and shaking forces
• Inertia force:
The x and y components are:
13.5 Inertia and shaking forces
• Shaking force
Shaking force is the sum of all forces acting on the ground plane
1. Note that there is no effect of gas
force in the shaking force; Gas force is
internal force.
2. Shaking force is opposite to inertia
force
13.5 Inertia and shaking forces
• Plot of Fsx function of Fsy
End of Part III
