Solucionário Mecânica para Engenharia - Dinâmica - Beer - 7 Edição - Capítulo 15

PROBLEM 15.1 The motion of a cam is defined by the relation @ = 4¢° — 1217 +15, where @ is expressed in radians and ¢ in seconds. Determine the angular coordinate, the angular velocity, and the angular acceleration of the cam when (a) 1 = 0, (6) 1 = 6 8. = (40 - 12¢7 +15)radians do a = (12? ~ 24t)rad’s a= 2 = (241 ~ 24)radls? O=0+0415 @ = 15.00 radians @=0+0 a-04 a= 0-24 @ = 24.0 rad/s” 0 = (4)(6)° - (12)(6)" +15 = 447 0 = 447 rad @ = (12)(6)° ~ (24)(6) = 288 @ = 288 rads < 24)(6) - 24 = 120 @ = 120.0 rads? <PROBLEM 15.2 For the cam in Prob. 15.1, determine the time, angular coordinate, and angular acceleration when the angular velocity is zero. ‘SOLUTION 0 = (4° ~ 127 +15)radians & (120 ~ 241)rads a= < (24 -24)radis? a Set @ = 0, and solve the quadratic equation for. The roots are 1-0 ad t=2s and 2.0084 6 = 15.00 radians € At £=0, 9=0+0+15 a=0-24 @ = -24.0 rad/s” At t=25, 09 = (4)(2) - (12)(2) +15 = 000 radian <¢ @ = 24.0 rads? € a= (24)(2)-24 = 24PROBLEM 15.3 The motion of an oscillating flywheel is defined by the relation 8 = Oye" cos4zt, where 8 is expressed in radians and 1 in seconds. Knowing that @, = 0.5 rad, determine the angular coordinate, the angular velocity, and the angular acceleration of the flywheel when (a) 1 = 0, (6) 1=0.125 SOLUTION 0 =05e™ cosdat ne-™ cost —Are™sindzt) o a = 12 = 05(9n%e™ costar + 12n%e™' sin drt +124%e™' sin dct 163°e™ cost) = 05(242%¢"™ sin drt ~ 722 ™" cosdzt) (@) 1=0, = (03) 9 = 0500 rad € 0.8)(-3e) = -4.71 @ = 47 rads € @ = (05)(-72") = 345 @ = -34.5 ad's? (©) 1= 0125s, coset = cos sinde = sin = 1 €* = 0.30786 0 = (0.5)(0.30786)(0) = 0 a=04 @ = -1934 rads 4 = (0.8)(0.30786)(-42 @ = 36.5 rads? 4PROBLEM 15.4 ‘The motion of an oscillating flywheel is defined by the relation 0 = Ace" sindzt, where @ is expressed in radians and ¢ in seconds. Knowing that, = 0.4 rad, determine the angular coordinate, the angular velocity, and the angular acceleration of the flywheel when (a)1=0.125 5, (b) t= =. SOLUTION 8 = Oe" sin dat wn wa ( Te dns +e nt) 2 2 2 492° 6-108 sin dnt — 28 6-1 cos dat ~ 287 6-7 cos dat — 16x76" sin dnt 36 6 6 - term(s ) (@ 6 =O04rd, 1 = 0.1258 nts Bent] 70296 - 0.63245, 4xt =~, sin Zan 6 = (0.4)(0.63245)(1) = 0.25298 radians 0 = 0253 1ad-4 (0.4)(0.63045)(-7 = ~0.9272 ad's @ = 0927 rads € 49), 2 ~(04)(063285)(16- 2) °( a= 366 rads? (6) Psa o=-04 o=04 a=04PROBLEM 15.5 ‘The rotor of a gas turbine is rotating at a speed of 7200 rpm when the turbine is shut down. It is observed that 5 min is required for the rotor to coast to rest. Assuming uniformly accelerated motion, determine (a) the angular acceleration, (6) the number of revolutions that the rotor executes before coming to rest. SOLUTION @ 1} oy = 7200p = 2£(220) 240 ea @,=0 = Smin = 3008 =O - 9-208 _ o grrads*, a= +251 rds? € O= ay + har = (240)(300) + 4(-088)(300) = 360007 rad _ 360007 rr = 18000 rev 8 = 18000 revPROBLEM 15.6 When the power to an electric motor is tumed on the motor reaches its rated speed of 2400 rpm in 4 s, and when the power is tumed off the motor coasts to rest in 40 s. Assuming uniformly accelerated motion, determine the number of revolutions that the motor executes (a) in reaching its rated speed, (b) in coasting to rest. SOLUTION @ 6) @ = 2400 pm =a +at = at, + 3 (20=)(#°) @, = 80rrad’s, — @; = 0, @,- 0, _ 0-802 bh 40 @, = 0 +a(t,~4), = 2a rads? = 4 = y(t.) + bats ~4) = (804)(40) + $(-22)(40)° 16002 2a = 16007 radians = 800rev ~ 6, = 800 rev <PROBLEM 15.7 ‘The angular acceleration of an oscillating disk is defined by the relation @ = -k8. Determine (a) the value of k for which @ = 12 rad/s when @ = 0 and @ = 6 rad when « = 0, (b) the angular velocity of the disk when @ = 3 rad. SOLUTION ao of. fe dace] a=-kO a0 kO da = -k0d0 Integrating, @ k=9.008? o@ z 7 (F 4) o @? = 12? ~(9)(3) = 63 rad2s? @ = 7.94 rad/s 4PROBLEM 15.8 ‘The angular acceleration of a shaft is defined by the relation @ = -0.50, where a is expressed in rad/s? and @ in rad/s. Knowing that at ¢ = 0 the angular velocity of the shaft is 30 rad/s, determine (a) the number of revolutions the shaft will execute before coming to rest, (6) the time required for the shaft to come to rest, (c) the time required for the angular velocity of the shaft to reduce to 2 percent of its initial value. SOLUTION @ Integrating, o Integrating, © da = ~05d0 30 = -0.50 0 =955rev4 ate =n =o too 30 0.02)(30) = 0.6 ad's fa apie 1=-2in 2S = 2in50 1278284 30PROBLEM 15.9 The assembly shown consists of two rods and a rectangular plate BCDE which are welded together. The assembly rotates about the axis AB with a constant angular velocity of 10 rad/s. Knowing that the rotation is counterclockwise as viewed from B, determine the velocity and acceleration of comer E. SOLUTION yg = (500 mm) i ~ (225 mm) j + (300 mm)k = (0.5 m)i ~ (0.225 m) j + (0.3 m)k Angular velocity vector. Velocity of E. Acceleration of E. [yp = NOS? + 0.225" + 0.3* = 0.625 m. 10 St ~ 03k) gas (O51 - 0225) + 03k) = (Srad/s)i — (3.6 rad/s) + (4.8 rad/s)k (300 mm)k = -(0.3 m)k ij ok Vp = OX pp =|8 3.6 48| = 1.081 + 2.45 0 0 03 Ve = (1.080. ms)i + (2.40 m/s)j 4 ijk ap =@xve=| 8 -3.6 48] = -11.52i + 5.184) + 23.088k 1.08 24 0 ag = (11.522) + (5.18mi?) + (23.1m42)PROBLEM 15.10 In Prob. 15.9, determine the velocity and acceleration of comer C, assuming that the angular velocity is 10 rad/s and decreases at the rate of 20 radis*, SOLUTION 4 = (500 mm)i ~ (225 mm) + (300 mm) [yy = NOS? + 0.2257 03? = = (0.5 m)i - (0.225 m)j + (0.3m)k 625 m Angular velocity vector. @ 10 Toa (0.5 - 0.225) + 0.3) 0.625 Las (4.8 rads Angular acceleration vector. 0.2254 +0.3k) 2)1+ (72 adls!))~ (0.6 nde?) Velocity of C. Yo = 8% top Yop = ~($00mm)i = ~(0.5 m)i ij k 8 36 43] 05 0 0 2.45 - 18k Yo = ~(2.40 mvs) - (1.800 mis) Acceleration of C. OX keyg + OX Ve ij k ij k =|-16 72 -96| + |8 36 48 05 0 0 jo -2.4 -1.8| 8) + 3.6 + 181 + 14.4) - 19.2 = 181 + 19.2) - 15.6k tc = (18.00ms?)i + (1920m6?)j (15.60 ms?)PROBLEM 15.11 ‘The rectangular block shown rotates about the diagonal OA with a constant angular velocity of 6.76 rad/s. Knowing that the rotation is counterclockwise as viewed from A, determine the velocity and acceleration of point B at the instant shown. SOLUTION 40) = (100 mm)i + (624 mm)j + (240 mm)k = (0.1 m)i-+ (0.624 m)j + (0.24 m)k ao = (100 mm)i + (312 mm)j = (0.1 m)i + (0.312 m)j 14)" + (0.24)° = 0.676 m fou = Y(0.1) + Angular velocity. o 6.16 = tao = Fag Ol + 06244 + 0.24) © = (1.0 rads)i + (6.24 rads) + (2.4 rads) ke Velocity of point B. Vp = OX to ij k 10 624 24 0.1 0312 0 0.74881 + 0.24j - 0.312k (0.749 m/s)i + (0.240 m/s) j ~ (0.312 m’s)k Vy= Acceleration of point B. a, = Ox, ij k a,=| 10 624 24 |= 0.7488 0.24 ~0312 2.52291 —1.4851j + 4.9125k ay = ~(2.52 mss*)i - (1.485 ms") + (4.91ms")kPROBLEM 15.12 decreases at the rate of 5.07 rad/s*. SOLUTION In Prob. 15.11, determine the velocity and acceleration of point B at the instant shown, assuming that the angular velocity is 3.38 rad/s and Feo = (100mm) + (624 mm) + (240 mm)k = (0.1 m)i + (0.624 m)j + (0.24 m uo = (100 mm)i + (312 mm)j = (0.1m)i + (0.312 m)§ Jog = Y(0.1Y + (0.624) + (0.24)" = 0.676 m Angular velocity o rw SE (01 + 0604) + 0.244) @ = (0.5 rad/s)i + (3.12 rad/s) j + (1.2 rad/s)k Velocity of point B. Vg = 0% Fa0 ij ok vg =|0.5 3.12 1.2| = -0.3744i + 0.12) - 0.156k 0.1 0312 0 vg = ~(0.374ms)i + (0.1200 mis) | - (0.1560 mis)k Angular Acceleration. 5.97 (0.14 + 0,624) + 0.24K) 0.676 = -(0.75 ads") - (4.68 mds?) (18 rade?)PROBLEM 15.12 CONTINUED Acceleration of point B. By = AX ty + OX Vy i k f 7 a, =|-0.75 468 -18) + | 05 312 12 01 0312 0 |-0.3744 0.12 -0.156 = 0.5611 0.18 + 0.234k - 0.630721 - 0.37128) + 1.22813k 0.0691 ms*)i - (0.551 mvs?) j + (1.462 ms?) kPROBLEM 15.13 ‘The bent rod ABCDE rotates about a line joining points A and E with a constant angular velocity of 12 rad/s. Knowing that the rotation is clockwise as viewed from £, determine the velocity of comer C. SOLUTION Angular velocity. Velocity of C. Angular Acceleration. Acceleration of C. Typ = ~16i +16] + 8k in. Lyg = VIG? +16? +8? = 24in, Fas +16) + 8k) (8 rad's)i + (8 rad/s)j + (4 rad/s) Fox = (16 in.)i + (6 in)j ijk 8 84) 16 6 0 ~24i ~ 64) + 80K Vc = ~(24.0inJs)i ~ (64.0 ins) j + (80.0 in/s)k a=0 ijk ax +OXVe=0+/-8 8 4 |-24 -64 80| = 896i + 544j + 704k te = (896in/?) + (544 ine?) j + (704 ins?)PROBLEM 15.14 In Prob. 15.13, determine the velocity and acceleration of comer B, assuming that the angular velocity is 12 rad/s and increases at the rate of 60 rad/s*, SOLUTION ran = (06 Angular velocity. Angular acceleration. Velocity of B. Acceleration of B. +(I6in)j + (8in)k Lye = VIO HIE eR = 2A. ® 2 = Fete = gl +16) + 8h) @ = ~(Srad/s)i + (8 rad/s)j + (4 radis)k a 60, ar, Sql 16t +164 + 8k) (40 rad/s*)i + (40 reais + (20:00 ta = (10a) Bi + 8) + 4k) x (10) = 404 + 80k vy = (40.0in.s)i + (80.0inJs)k Ay = OX Ty4 + OXV, bik ay = (401 + 40j + 20k) x(-10J)+|-8 8 4 400 80] = 2001 + 400k + 6401 + 800j - 320k ay = (840in,s")i + (800in/s*)j + (80.0in/s*)k-€PROBLEM 15.15 ‘The earth makes one complete revolution on its axis in 23 h 56 min. Knowing that the mean radius of the earth is 6370 km, determine the linear velocity and acceleration of a point on the surface of the earth (a) at the equator, (b) at Philadelphia, latitude 40° north, (c) at the North Pole. SOLUTION 23h S6min = 23.933h = 86.1610°s, Trev = 2rrad 3 W 72.925 x10 rad/s 86.16 x 10" R = 6370km = 6.3710 m @= oj, 1 = Reospi + Rsingj v= @xr = -oRcosgk 72.905 «1074)(63710"}cospk = (464530009 mk 8 = 0x ¥, = 0} x (-@Rc0sg)i = -w*Reos gi = -(33.876 x 10 cos@ ms")i (@) Equator. (@=0°) cose = 1.000 v= ~(465 m/s)k 465 mis (33.9 x 107 ms a = 0.0339 mis? (0) Philadelphia. (@= 40°) cos = 0.76604 ~(464.52)(0.76604)k = ~(356 mis) = 356mis-¢ ~(33.876 x 107)(0.76604)i 0.273 x 10° ms? )i a = 0.0259 mis? 4 (©) North Pole. (9 =90°) cosp=0 veo a-04PROBLEM 15.16 ‘The earth makes one complete revolution around the sun in 365.24 days. Assuming that the orbit of the carth is circular and has a radius of {93,000,000 mi, determine the velocity and acceleration of the earth. SOLUTION 93,000,000 mi = 491.04 x 10° ft 365.24 days = 31.557 10°s, Irev = 2 rad Aneviar veloc Sa 7 10" ras Velocy ofthe earth v= re = (491.04. 10°)(199.1110°) = 97.77» 10" v = 66.7 x10 mih Acceleration of the earth. 19.47 «107 fs? (97.77 x 10°)(199.11 x10) 19.47 x 107 fs?PROBLEM 15.17 The belt shown moves over two pulleys without slipping. At the instant shown the pulleys are rotating clockwise and the speed of point B on the belt is 4 m/s, increasing at the rate of 32 m/s’, Determine, at this instant, (@ the angular velocity and angular acceleration of each pulley, (4) the acceleration of point P on pulley C. SOLUTION Let vp and ay be the belt speed and acceleration. These are given as vy = 4m/s and ay = 32m/s”. These are also the speed and tangential acceleration of periphery of each pulley provided no slipping occurs. (a) Angular velocity and angular acceleration of each pulley. Pulley A. rq = 160mm = 0.160m “m4 =a 4+ 2 a5 radls =25.0rad’s Oe iw “ os a, = 200 rads?) @e = 40.0 ad's) Ge = 320 rads?) ap = (ap)? + (ap); = V322 +160" = 163.2 mis? tan p = 3 aust ap =168.2ms F 11314PROBLEM 15.18 ‘The belt shown moves over two pulleys without slipping. Pulley 4 starts from rest with a clockwise angular acceleration defined by the relation @ = 120 - 0.002«", where a is expressed in rad/s’ and @ is expressed in rad/s. Determine, after one-half revolution of pulley 4, (a) the ‘magnitude of the acceleration of point B on the belt, (b) the acceleration ‘of point P on pulley C. SOLUTION Lave prtion 120mm = 016m, %=10am =0100m @ = 120 ~ 0.0020" Integrating and applying initial condition «@ = 0 at @ = 0 and noting that @ = z radians at the final state, jada £ egete., = -2501n( 60000 - w°)" = {do = x -250[n (somo ~ 0) - non] 2250 149.26 rads? @ = 27.373 rads ) a = 120 ~ 0,002.07 = 120 ~ (0.002)(749.26) = 118.50 rads ) (a) Tangential velocity and acceleration of point B on the belt. Vp = V4 = r4@ = (0.160) (27.373) = 4.3797 mis ay = ay = rga = (0.160)(118.50) = 18.96 m/s? 8.96 m/s? (0) Acceleration of point P on pulley C. Pc = 0.100m = 43797 mis = 191.82 mis? — Pc 0.100PROBLEM 15,18 CONTINUED (ap), = ag = 18.96 ms? | dp = ¥(191.82)° + (18.96) = 192.8 ms? 18.96 tan gp = 2898 = 5.64" P= ig FP ap = 192.8ms" F 5.68°-¢PROBLEM 15.19 ‘The belt sander shown is initially at rest, If the driving drum B has a ¢ constant angular acceleration of 120 rad/s counterclockwise, determine the magnitude of the acceleration of the belt at point C when ap (@) 1=05 s,(b)0=2s SOLUTION r=1.00in, a = 120 rad/s? @=at, ra\, a, = re? —~ (@ 1=05s, @ = (120)(0.5) = 60radis, a, = (1.00)(120) = 120 in,s* | a, = (1.00)(60)" = 3600 in./s* 3602 in.s*, 300 fs? (1228, = (120)(20) = 240 rad/s, a, = (1.00)(120) = 120inds* 4, = (1.00)(240)? = $7600 nis? ((120)° + (57600)? = 57600 inJs?, a= 4800 Us €PROBLEM 15.20 ‘The rated speed of drum B of the belt sander shown is 2400 rpm. When G the power is turned off, it is observed thatthe sander coast from its rated speed to rest in 10 s. Assuming uniformly decelerated motion, determine in J the velocity and acceleration of point C of the belt, (a) immediately before the power is tumed off, (8) 9s later. SOLUTION Yo = 20.9 fils 4 ac = 63165 (8) Uniformly decelerated motion. @ = a +ah AL9s, Sr rads? @ = @y + at = 80m ~ (82)(9) = 8x rad’s Ye = ro = (1.00)(8) = 25.133inJs, Ye = 2.09 fis (ae), = rea = (1.00)(-82) = -25.133 ins® [631.65 + (25.133)? = 632.15 inJs? 2.7 fs?PROBLEM 15.21 A series of small machine components being moved by a conveyor belt passes over a 120-mm-radius idler pulley. At the instant shown, the velocity of point 4 is 300 mm/s to the left and its acceleration is 180 mm/s" to the right. Determine (a) the angular velocity and angular acceleration of the idler pulley, (6) the total acceleration of the machine ‘component at B. ‘SOLUTION @ ©) Vp = vy =300mms—— ry = 120mm ay = 180 mm/s —- 300 120 2S rad/s) 5 5 rads? (45), = ar (ap), = rae? = (120)(2.5)° = 750 mmvs? | (180) + (750)? = 771. mas? @ = 2.50 rad/s) = 1.500 rads?) tanp=750, p= 765° ay = Timms? \ 765°PROBLEM 15.22 ‘A series of small machine components being moved by a conveyor belt passes over a 120-mm-radius idler pulley. At the instant shown, the angular velocity of the idler pulley is 4 rad/s clockwise. Determine the ‘angular acceleration of the pulley for which the magnitude of the total acceleration of the machine component at B is 2400 mms’, SOLUTION oy = Arad), my = 12000 (ag), = rae} = (120)(4)" = 1920 mvs? ay = 2400 mm/s? (ap), = Yaa — (a), = V24007 —1920" = +1440 mmis* 12.00 rads") or 4PROBLEM 15.23 ‘A gear reduction system consists of three gears 4, B, and C. Knowing that gear 4 rotates clockwise with a constant angular velocity ‘@, = 600 rpm, determine (a) the angular velocities of gears B and C, (6) the accelerations of the points on gears B and C which are in contact. 50mm 100mm 150 mm SOLUTION @ oto = (2 ao nd Let points 4, B, and C lie at the axles of gears 4, B, and C, respectively. Let D be the contact point between gears 4 and B. Vp = Toy4@q = (50)(20r) = 10002 mms | Yo. 10008 60 5 = 10 rad/s = 107 -— = rs yr rad's Fy 7 300m > y= @, = 300rpm) 4 Let Ebe the contact point between gears B and C. Ve = Teen = (50)(107) = $007 mmis f Ye _ 5007 60 y toe = ME = 5007 3.3338 rads = (3.3332) = 100 1pm tec 150 (33389) 77 a we = 100 rpm ) < (b) Accelerations at point E. ‘On gear B: .3 x 10° mm/s? — (500)° On gear C: ha 150 ae = 16.45 mis? —PROBLEM 15.24 ‘A gear reduction system consists of three gears 4, B, and C. Gear A starts from rest at time ¢ = 0 and rotates clockwise with constant angular acceleration. Knowing that the angular velocity of gear A is 600 rpm at time ¢ = 2 s, determine (a) the angular accelerations of gears B and C, (b) the accelerations of the points on gears B and C which are in contact when 1=0.5 s. SOLUTION (@) Attime = 2s, 04 = 0 rpm = (ONE) «209 ass ) Oy = Of, i = 107 rad/s?) Let D be the contact point between gears A and B. (ap), = revaeta = (50)(10r) = 5007 mms? | (20), S008 «oy as dy = 157186") 4 ay = Top 100 Let E be the contact point between gears B and C, (ae), = rote = (50)(Se) = 250 mms? } ae = 2), - 2508 2) - 2) Saar = 16667 rads? ) ae = 5.24radls? ) © At r=05s, For gear B, 5 = ayt = (52)(0.5) Six rad/s *) )y = Tea} = (50)(2.5r)? = 3.0843 x 10° mm/s? = 3.0843 m/s? — (ae), = 2500 mms?} = 785.40 mins? { Vee), + (ae), 0.7854 785 ms} 3.0843" + 0.7854? = 3.18 m/s” tan 8 B= 14.29" ag = 3.18 m/s? % 14.29°¢PROBLEM 15.24 CONTINUED For gear C, te = act = (1.66672)(0.5) = 0.833334 rads ) (a2), = raced = (150)(0.83333n)° = 1.02808 x 10° mms? = 1.02808 mis*— (ag), = 0.7854 mis? ag = Yas), + (ae); = V1.02808" + 0.7854 = 1.294 mvs? 854 1.02808 tan = 314, ap = 1.294ms? £3744PROBLEM 15.25 Ring B has an inner radius r, and hangs from the horizontal shaft A as shown, Knowing that shaft 4 rotates with a constant angular velocity «, f and that no slipping occurs, derive a relation in terms ofr, rp, ry and ‘@4 for (a) the angular velocity of ring B, (b) the acceleration of the points of shaft 4 and ring B which are in contact. SOLUTION (@) Let point C be the point of contact between the shaft and the ring. Yo = HO, (©) On shaft A: On ring B:PROBLEM 15.26 Ring B has an inner radius r; and hangs from the horizontal shaft 4 as shown. Shaft 4 rotates with a constant angular velocity of 25 rad/s and no slipping occurs. Knowing that 7, = 0.5 in., r= 2.5 in, and ry =3.5 in,, determine (a) the angular velocity of ring B, (6) the acceleration of the points of shaft A and ring B which are in contact, (c) the magnitude of the acceleration of a point on the outside surface of ring B. SOLUTION (a) Let point C be the point of contact between the shaft and the ring. Yo = no, = (0.5)(25) = 12.5 ins ay = 2 = 25 «50 rads oy = 5.00 ad's 25 (6) On shaft A: ay = n@} = (0.5)(25)° = 312SinJs*, a, = 26.0 80s? |< On ring B: ay = 10} = (2.5)(5.0)° = 62.5inJs*, (c) Ata point on the outside of the ring, ron =3.Sin. “3 = (3.5)(5.0)" = 87.5in/s? aPROBLEM 15.27 Cylinder 4 is moving downward with a velocity of 3 m/s when the brake is suddenly applied to the drum. Knowing that the cylinder moves 6 m se downward before coming to rest and assuming uniformly accelerated motion, determine (a) the angular acceleration of the drum, (6) the time 50.00 required forthe cylinder to come to rest. SOLUTION (va)p = 31s, (v4), = (54), (54) = 6m (ahs Pat alls), (s0o] _ (afta _ 0-8 “Te Ch] OO -0.15 mis (@) On the surface of the drum, a = 3.00 rads?) o wth 3 ota 1= 4.0084PROBLEM 15.28 The system shown is held at rest by the brake-and-drum system shown. ‘After the brake is partially released at 1 = 0, it is observed that the =>} cylinder moves 5 m in 4.5 s. Assuming uniformly accelerated motion, determine (a) the angular acceleration of the drum, (6) the angular velocity of the drum at ¢ = 3.5 s. SOLUTION (a) Assume uniformly accelerated motion. se par .49383 mis? | For the drum, 50mm = 0.25 m = 1.97531 radis’, @ = 1.975 rad’s? >) ) © = ay + at = 0 + (1.97531)(3.5) = 6.91 radis, @ = 6.91 rad’) 4PROBLEM 15.29 |, Two blocks and a pulley are connected by inextensible cords as shown. ‘The relative velocity of block A with respect to block B is 2.5 fs to the left at time ¢ = 0 and 1.25 fs to the left when 1 = 0.25 s. Knowing that the angular acceleration of the pulley is constant, find (a) the relative acceleration of block A with respect to block B, (b) the distance block A moves relative to block B during the interval 0 < ¢ < 0.258. SOLUTION (a) For the pulley, At r=, At 1=0.25s, a = ra =(4)(s0) = 156° — ay =r ~(4}a0) = 1092 — yy = 5.00 fs? —~ 4 6) (-2.5)(0.25) + H8)(0287 = -0.46875 R— Xn = 5.63in—PROBLEM 15.30 Two blocks and a pulley are connected by inextensible cords as shown. The relative velocity of block A with respect to block B is 3 fU/s to the left ! at time ¢ = 0 and 1.5 f/s to the left after one-half revolution of the pulley. ae Knowing that the angular acceleration of the pulley is constant, find (@) the relative acceleration of block 4 with respect to block B, (b) the distance block A moves relative to block B during the interval 0s1s03s SOLUTION For the pulley, At 0 =0, At @= Liev = radian, or 19.3373 fs? — 38.675) = -12.8916 fs? or 12.8916 ft/s> @ 64458 fUs? or «6.4458 fs? — ys = 645 As — o = (3)(03)+ -6.4458)(0 3)° = 0.60994. — X49 = 732in— 4PROBLEM 15.31 Disk B is at rest when it is brought into contact with disk A which is rotating freely at 450 rpm clockwise. After 6 s of slippage, during which each disk has a constant angular acceleration, disk 4 reaches a final angular velocity of 140 rpm clockwise. Determine the angular acceleration of each disk during the period of slippage. SOLUTION (0), = 4501p 3 = S28) sera) (0), = 140 pm ) = (428) «4 66674 rads) (04), = (4) + 44h» — 4.6667 = -151 + a2,(6) S.Alrads? >) Let C be the contact point between the two gears. Atta Ga, Ye = ra), = (60)(4.66671) = 2807 mms | 280 _ 2.89 rads} 100 281 = 0+ a5(6)PROBLEM 15.32 A simple friction drive consists of two disks 4 and B. Initially, disk 4 has a clockwise angular velocity of $00 rpm and disk B is at rest. It is known that disk 4 will coast to rest in 60 s with constant angular acceleration. However, rather than waiting until both disks are at rest to bring them together, disk B is given a constant angular acceleration of 2.5 rad/s? ‘counterclockwise. Determine (a) at what time the disks can be brought together if they are not to slip, (b) the angular velocity of each disk as contact is made. SOLUTION (wa), = 500 1pm } yo O12. 2 ssomts Assume uniform angular deceleration of disk A during coasting. #30 = (a4), + @yt = 52.360 + (60) a = 087266 rds?) (4), + at = -$2.360 + 0.872660 Let C be the contact point between the gears. For gear A, 1424 = (60)(52.360 ~ 8.7266) | Ve = (3141.6 ~ 52.360r)mmis | For gear B, 5 rad/s? *) aayt = 2.51 Vo = rap = (100)(2.51) = 250r mms | (a) For condition at no slip, equate the two expressions for vc. 2501 = 3141.6 ~ 52.3601 1= 103984 Ye = 2501 = 2597.6 mms (6) Corresponding angular velocities. 0, = XC = 29978 © 43.703 rads 60 % 413 pm ) @y = 248pm ) ¢PROBLEM 15.33 ‘Two friction disks A and B are to be brought into contact without slipping when the angular velocity of disk 4 is 240 rpm counterclockwise, Disk starts from rest at time f = 0 and is given a constant angular acceleration ‘of magnitude. Disk B starts from rest at time ¢ = 2 s and is given a ‘constant clockwise angular acceleration, also of magnitude a. Determine (@) the required angular acceleration magnitude a, (b) the time at which ‘the contact occurs. SOLUTION ‘When contact is made, @, = 240 rpm = 8 rads) Let C be the contact point between the two gears. Vo = rig = (6)(8x) = 480 in/s— = atnds Wy = 6x = a(t ~ 2) ad's Subiracting, dr =(a)(2) a= ands? (@) a@=3.14rds? 4 © += ies 8.0084PROBLEM 15.34 velocity of disk A is 240 rpm counterclockwise and disk B is at rest. A period of slipping follows and disk B makes 2 revolutions before reaching its final angular velocity. Assuming that the angular acceleration of e disk is constant and inversely proportional to the cube of its radius, determine (a) the angular acceleration of each disk, (6) the time during which the disks slip. e ‘Two friction disks A and B are brought into contact when the angular SOLUTION aut = (608) (0s), = aah = (§) yh = 042875044 Let ve be the velocity at the contact point. = 14g = (6)(84 ~ yh) = 48x ~ 624 and ‘ofp = (8)(0.421875a14%) 37504 f Equating the two expressions for ve, 48x ~ 64%, Then, (a) a, a, = 434rad's? ) 832 radis” ) 3 ay = (§) (4.3429) = 1.83218 rads? ) (6) From above, 1 =3.70s4ZX i e PROBLEM 15.35 In a continuous printing process, paper is drawn into the presses at a constant speed v. Denoting by r the radius of the paper roll at any given time and by b the thickness of the paper, derive an expression for the angular acceleration of the paper roll. ‘SOLUTION Let one layer of paper be unrolled. 8|%PROBLEM 15.36 Television recording tape is being rewound on a VCR reel which rotates with a constant angular velocity «». Denoting by r the radius of the reel at any given time and by 6 the thickness of the tape, derive an expression for the acceleration of the tape as it approaches the reel. SOLUTION Let one layer of tape be wound and let vbe the tape speed. vat=2ar and = Ar =b For the reel:PROBLEM 15.37 Rod AB can slide freely along the floor and the inclined plane. At the instant shown the velocity of end A is 1.4 m/s to the left. Determine (a) the angular velocity of the rod, (b) the velocity of end B of the rod. SOLUTION 8 Geometry. p=3687° e QZ Sm fe 0 = 67.38" 2 Vek ul) a LO velocity ana. S049 8 Vy = My 20 Plane motion = Translation with A + Rotation about 4. vet vat¥en Draw velocity vector diagram. g = 180° - 0 ~ (90° ~ f) = 59.49% Law of sines. Zea 2__Ya__ “4 sind ~ sin(0"— A) sing _ vysing _ 1.4sin67.38° sing sin39.49° @ O) vq = 1300m's 3 67.494PROBLEM 15.38 Rod AB can slide freely along the floor and the inclined plane. At the instant shown the angular velocity of the rod is 4.2 rad/s counterclockwise. Determine (a) the velocity of end A of the rod, (b) the velocity of end B of the rod. ro SOLUTION Geometry. B B= 36.87° lo.3 mm 8 = 67.38° Velocity analysis. n ose @yp = 42 rads) Vora = Tsay = (0.5)(4.2) = 2.1 ms % B ve = np £0 Plane motion = Translation with A + Rotation about . vp = V4 + Vo Draw velocity vector diagram. @ = 180° ~ 0 ~ (90° ~ f) = 59.49° Law of sines % % Yea sing ~ sin(90°— A) sind Yaxsing _ 2.1sin59.49° o A= Sing sino7aee 6m 960ms— © vp = 182m sin67.38° Vp = 1.820ms <£ 67.4°-4PROBLEM 15.39 Collar A moves up with a velocity of 3.6 fs. At the instant shown when 0 = 25°, determine (a) the angular velocity of rod AB, (6) the velocity of collar B. SOLUTION 5 % es - o alee 8 ® Vow : + % % fo A A 8 Reed vet vate Draw velocity vector diagram. = 180° — 60° - 65° = 55° Law of sines. ae sin6s® sing 3.6sin 60" @ yy = OE = 957. 9 28 rads Og, = 2.28 rads) ) Vp =3.981Us 30°PROBLEM 15.40 Rod AB moves over a small wheel at C while end A moves to the right with a constant velocity of 25 in/s. At the instant shown, determine (a) the angular velocity of the rod, (b) the velocity of end B of the rod. SOLUTION a0" Me wr 8 90-6) a> 25 mle ‘Slope angle of rod. we =A2 - 1220661. e050 Velocity analysis. 7934 in. v4 = 2Sin/s—, Vou = ACO NO Yo =¥4+¥ou Draw corresponding vector diagram. Yo = Yasin = 25sin3S° = 14.34in/s You _ 14.34 “4 175 rad/s AC 12.2066 (@) 4g = 1.175 radis >) 4 Ye = ¥40080 = 25¢080 = 20.479 ins Vac = CB ayy = (7.7934)(1.175) = 9.15SLinds Vp has same direction as ¥¢j4- Vp =Veo+ ac Draw corresponding vector diagram. 6)PROBLEM 15.41 ‘The motion of rod 4B is guided by pins attached at 4 and B which slide in the slots shown. At the instant shown, @ = 40° and the pin at B moves upward to the left with a constant velocity of 150 mnvs. Determine (@) the angular velocity of the rod, (b) the velocity of the pin at end 4. SOLUTION % Ve lz is ue lie ue = + % t a. . ” Freed Velocity analysis. vg = 150mm’ Sy 15° von = 5000 ¥ 50° ‘Translation with B + Rotation about B. va Yet Van Draw velocity vector diagram. @ = 180° ~ 50° — 75° = 55° Law of sines. ease ae sin75°~ sing sin50° @ 1508i075° _ 199.14 mmis ) v4 = 1604 mms |PROBLEM 15.42 ‘The motion of rod AB is guided by pins attached at A and B which slide in the slots shown. At the instant shown, @ = 30° and the pin at A moves downward with a constant velocity of 225 mm/s. Determine (a) the angular velocity of the rod, (b) the velocity of the pin at end B. SOLUTION a = u i 7 Sor % v4 = 225 mms | Velocity analysis. Vg =¥_p SAS? Ya = Yau 30° Plane motion = Translation with A + Rotation about 4. Vy = Vat Vou Draw velocity vector diagram. = 180° ~ 60° - 75° = 45° Law of sines. @ 307.36 mms Ta 300 .615 rad/s @ = 0.615 ad's) 4 o vp = Lasin6O _ 2258iN60" 976 mas sing ins? Vp = 276mm’ “15°PROBLEM 15.43 ‘The disk shown moves in the xy plane. Knowing that (v.,), = -282 inJ/s, (9), = -296in/s, and (vc), = ~56 inJ/s, determine (a) the angular velocity of the disk, (b) the velocity of point B. Siwy) SOLUTION In units of in/s, Vay = OK X tyy = ok x (241 + 24j) = 240i + 2400} Vou = OK toy = Ok x 481 = 4805 Ye = V+ Van 2961 + (vp), 4 = (¥4),4 ~ 282) ~ 2404 + 24004 Components. i: -296 = (v4), ~ 240 a (vp), = -282 + 240 2 Vo = V4 + Vou 561+ (vc), = (v4),4 ~ 282) + 4805 ‘Components. i: -36 = (v4), @) J: (ve), = -282 + 480 @ From (3), (v4), = Soins (a) From (1), = %=(59) «gras, @ = 10.00 rad/s") From 2), (vp), = -282 + (24)(10) = ~42 in/s o Vp = ~(296in.s)i ~ (42.0 inJs)j€PROBLEM 15.44 In Prob. 15.43, determine (a) the velocity of point 0, (b) the point of the disk with zero velocity. SOLUTION In units of ins, Components. Components. From (3), From (1), @ &) ‘Components. Vg = Ol x tpg = Ok x (241 + 243) = 240i + 240} Vou = Ok x Fog = Ok x 481 = 480) Ve = Vat Yau 2964 + (v9), |= (v4), ~ 282) — 24a + 2405 is -296 = (v4), = 2400 a J (vp), = -282 + 240 @) Vo =a + Vou ~561 + (vo), = (va)gh = 282) + 480 -36 @) i (ve), = -282-+ 480 “ V4 = ~S6i~ 282} o =l0rads, — @ = (10.00 rad')k Vo = V4 + Vorg = V4 + @% Foyg = 10K x (241) S61 ~ 282j + 240j = ~S6i ~ 42) Vo = ~(56.0 inss)i - (42.0;inds)j 0 = vo +ox(xi+ 9H) 0 = ~S6i ~ 425 + 10k x (xi + yi) = ~S64 - 42) + 104 - 10) 56 ~ 10y, y= -5.60in.¢ i: 0=-42+10x, x=4.20in€PROBLEM 15.45 - ‘The sheet metal form shown moves in the xy plane. Knowing that a (v4), =100 mm/s, (vp), =-75 mms, and (vc), = 400 mm/s, eal determine (a) the angular velocity of the plate, (b) the velocity of point 4. ify ee: SOLUTION In units of mm/s, Vig = Ok x Fy = wk x (125i + 75j) = -75wi + 1250} Voy = Ok X Foy = ok x (501 +150}) = -1500i + 500) Ye =Va+ Van (vp), i - 75j = 100i + (v4), j~ 750i + 12505 ‘Components. iz (vp), = 100-750 i) J: -75=(v,), #1250 2 Vo =¥4+¥ou 400i + (vc), J = 1004 + (v4), j~ 15001 + 5000) ‘Components. i: 400 = 100 - 150 GB) ds (ve), = (v4), +1280 “ (@ From (3), @=2rads = -(2nd/s)k € (6) From 2), (v4), = -75 = 125 = ~75 - 125(-2) = 175 mms V4 = (100.0 mavs)i + (175.0 mms)fesse PROBLEM 15.46 In Prob. 15.45, determine the locus of points ofthe sheet metal form for which the magnitude of the velocity is 200 mm/s. SOLUTION In units of mm/s, ‘Components. Components. From (3), From (2), Components. Radius of locus. Vpig = Ok X tg = Ok x (125i + 75}) = ~TS0o + 12505 Vorg = Ok X Fog = ok x (501 + 150}) = -15001 + 5004 Vp =¥4+Vag (vp), 4-754 = 1004 + (v4), 4~ 7S0t + 1250) i: (v4), = 100-750 @ i: -75=(v)), +1250 @ Vo =¥4+¥ou 400i + (ve), 1 = 1001 + (v4), j- 15001 + S004 i: 400 = 100 -150@ GB) J: (ve), = (v4), #1280 ® = -(2rads)k (v4), = “75 ~ 12S = 75 ~125(-2) = 175 mms v4 = (100 mm/s)i + (175 mnvs)j 2210 velocity. Call it D. vp =0 or 0 = 1001 +175) + (2k) x (xi + »i) Circle of 100.0 mm radius centered at x = -87.5 mm, y = 50.0 mm 4PROBLEM 15.47 In the planetary gear system shown, the radius of gears 4, B, C, and D is (60 mm and the radius of the outer gear E is 180 mm. Knowing that gear E has an angular velocity of 120 rpm clockwise and that the central gear has an angular velocity of 150 rpm clockwise, determine (a) the angular velocity of each planetary gear, (6) the angular velocity of the spider connecting the planetary gears. SOLUTION Cs Let a be the radius of the central gear 4, and let b be the radius of the planetary gears B, C, and D. The radius of the outer gear E is a + 2b. Label the contact point between gears A and B as 1, the center of gear B as 2, and the contact point between gears B and E as 3. Gear 4: y= a0, | o Spider: % =(a+d)as | @) Gear B: + bay | % vy = v2 + bo | O) Gear E: ¥ =(a+2b)oe | © From (4) and (5), 6 From (1) and (3), a” Solving for vy and @, ao {e+ 2H)ee +204] _ [la 2b)o¢ = a0 op = = From), @g=#—2 ag = Ll +22) +20] a+b 2a+ by Data: a= 60mm, b= 60mm, a+2b=180mm, a+b =120mm 18005 ~ 600, @ oo = ear Hee 050, = (1.8)(120) ~ (05)(150) = 105 rpm @g = 105.0 1pm )PROBLEM 15.47 CONTINUED oy as = ry = 0.750, + 0.250, = (0.75)(120) + (0.25)(150) = 127.5 rpm os = 1275)PROBLEM 15.48 In the planetary gear system shown, the radius of the central gear A is a, the radius of the planetary gears is 6, and the radius of the outer gear E is +25. The angular velocity of gear A is «, clockwise, and the outer gear is stationary. If the angular velocity ofthe spider BCD is to be 4/5 clockwise, determine (a) the required value of the ratio b/a, (b) the corresponding angular velocity of each planetary gear. SOLUTION Leta be the radius of the central gear 4, and let b be the radius of the planetary gears B, C, and D. The radius of the outer gear Eis a + 2, Label the contact point between gears 4 and B as 1, the center of gear B as 2, and the contact point between gears B and E as 3. Gear 4 4 = a0, | © Spider: v) =(a+ bas | @ Gear B: vy = y+ boy | @) Ws =p + bay | Cy Gear E: v5 = (a+ 2b)oe | 6) From (4) and (5), Wy + bog = (a +26)og © From (1) and (3), ¥, ~ biog =v = a0, o Solving fry and, v, [le tee ao] oy = [let Boe ~ a4 % % _[la+26)o¢ + 204 From @, as Ee aPROBLEM 15.48 CONTINUED [(a + 25)(0) + a0, 2(a +b) (@) 5 = 304= @)PROBLEM 15.49 ‘The outer gear C rotates with an angular velocity of 5 rad/s clockwise. Knowing that the inner gear 4 is stationary, determine (a) the angular velocity of the intermediate gear B, (b) the angular velocity of the arm AB. SOLUTION Label the contact point between gears A and B as /, the center of gear B as 2, and the contact point between gears B and Cas 3. Gear A: y= 304) Q ‘Arm AB: ¥ = 450491 2 Gear B: ¥ =v - 155] @) vy =v) +309) ® Gear C: Wy = 75a} 6) Data: 04 = 0, a = Srads From (1), 4=0, From (5), v5 = (7.3)(5) = 37 in’s| From (3), ¥-1 Say © From (4), Vy + 30 a Solving (6) and (7) simultaneously, (@) Wy = 8.33 radis < (6) From (2), Oy = 2.78 rad's )PROBLEM 15.50 ‘The intermediate gear B rotates with an angular velocity of 20 rad/s clockwise. Knowing that the outer gear C is stationary, determine (a) the angular velocity of the inner gear 4, (6) the angular velocity of the arm AB. SOLUTION Label the contact point between gears 4 and B as /, the center of ‘gear B as 2, and the contact point between gears B and C as 3. Gear A: Arm 4B: Gear B: Gear C: From (5), From (4), From (3), From (1), From (2), = 304| w % = 4549 @ = - 1509] ® vy = 1 +309] ® ¥ = 75a] ©) @y = 20 radls, a <0. vp = 305 = ~(3)(20)| = 60 inisf 4 = -60~(1.5)(20) = -90] = 90 ins} , = ¥/3 = -30rad/s } ©, = 300 rads} < -13.33 radis 45e49} Op = 13.33 rads)PROBLEM 15.51 ‘Arm ACB rotates about point C with an angular velocity of 40 rad/s ‘counterclockwise. Two friction disks A and B are pinned at their centers to arm ACB as shown. Knowing that the disks roll without slipping at surfaces of contact, determine the angular velocity of (a) disk A, (@) disk B. nl SOLUTION Arm ACB: Fixed axis rotation. Omer ¢ % yc = 24mm, v4 = ryci4g = (24)(40) = 960 mms} 4 8 yc = 18mm, Vp = ryc@ag = (18)(40) = 720 mst uy Disk B: Plane motion = Translation with B + Rotation about B. ry = 30mm, Vp =¥2- Yoo Bolg “ae 20 _ 2a rads } 730 é oh “ ns * « = 720f+ (30)(24){= 1440 mms} Disk A: Plane motion = Translation with A + Rotation about 4. r= 12mm, vp = 14 - Ven Mato f= 960] + 1204f _ 440 +960 2 Answers. (a) @, = 200 rads) 4 Oy 240 radls ) ™% = 200 radis >}PROBLEM 15.52 Am ACB rotates about point C with an angular velocity of 40 rad/s counterclockwise. Two friction disks A and B are pinned at their centers to arm ACB as shown. Knowing that the disks roll without slipping at surfaces of contact, determine the angular velocity of (a) disk 4, (6) disk B. ‘SOLUTION ‘Arm ACB. Fixed axis rotation. Ac at" rac = 6mm, V4 = racOua| = (6(40)|= 240 mms | = Ya = 36mm, Vg = race = (36)(40){ = 1440 mms} u Disk B: Plane motion = Translation with B + Rotation about B. 2mm, Vp = Vp Vag @- 0 = 1440} + 120] Ve =¥5+ Vee me - = = 120 rad/s ) on oR 2 Q a4 = 1440} + (6)(120)} = 2880 mms Disk A: Plane motion = Translation with A + Rotation about A. r= 30mm, vp = ¥4— Veg 2880f= 240] + 300, yy = 2880+ 240 164 ads) 30 , Answers. (a) @, = 104.0 rad/s) O) y= 1200 ad'sPROBLEM 15.53 Gear A rotates with an angular velocity of 120 rpm clockwise. Knowing that the angular velocity of arm AB is 90 rpm clockwise, determine the corresponding angular velocity of gear B. SOLUTION ‘Arm AB: 4p = 90 1pm = 3rrads ) Vp = rau = (15)(32) = 45x ins, Gear 4: @, = 120 1pm = 4zrad/s Ay i ¥p = r4@y = (6)(42) = 24inds \ (2) oe Os Dx Gear B: p= Vn + Von 2an\ = 452\+ Von 4 % Yop = 2irin/s\, % = 10pm ><PROBLEM 15.54 Arm 4B rotates with an angular velocity of 42 rpm clockwise. Determine the required angular velocity of gear A for which (a) the angular velocity of gear B is 20 rpm counterclockwise, (b) the motion of gear B is a curvilinear translation. SOLUTION ‘Arm AB: yy = 42pm = 1.4z ad's 15)(1.47) = 217 in/s\, Va = Ma 45 Ye (a) Gear B: 0g = 20pm =2ain’s } 2 1» =(0)( 2) = Grins Yow p= e+ Yow = 21a\+62\= 27in/s\, Gear A: @, = "2 - 5 , = 135.0 rpm) (6) Gear B: Gear 4:Pam PROBLEM 15.55 Knowing that the disk has a constant angular velocity of 15 rad/s e clockwise, determine the angular velocity of bar BD and the velocity of collar D when (a) 8 = 0, (6) 8 = 90°, (¢) 8 = 180°. SOLUTION Disk A a, =15radls AB = 70mm PA Rotation about a fixed axis. / |sw, vg = (4B), = (0.070)(15) = 1.05 m/s S (6-0. vp =1.05 mis ; ole 4, sinf = 250" B= 16.260" . Bar BD: v= a+ Von vol = [1.05 = ]+[von 4] «of —~S Yop = 22S, = 1.0937 r a = TES, = 1.09375 ms - Yoys _ 1.09375 o, pay = 438 rds} 05 = DB 0250 od a Ds B ¥p = vptan fp, Vp = 0.306 ms} ¢ Ya) o= 907. vp = 1.05 més} ing = 1% = 34.06" sin =p = a406 By Bar BD: Vp = Va + Yon > vp }=11.05 |]+ [vos SB] ‘Components: cts vyp =0 % +] = om =0-4 Yo = 1.050 ms] 4PROBLEM 15.55 CONTINUED («) (08 = 180, Vp = 1.05 m/s — 10 Dp =1626° 250° ? Bar BD: Vp =a +Voe vol=[.08—]+[y09 <8] 1.05 = 1.09375 mis B pg = 4.38 rads) vp = Votan B Vp = 0.306 mis}PROBLEM 15.56 ‘The disk has a constant angular velocity of 20 rad/s clockwise. (a) Determine the two values of the angle @ for which the velocity of collar D is zero. (6) For each of these values of @, determine the corresponding value of the angular velocity of bar BD. ‘SOLUTION y= 70mm, —Ipp = 250mm be 8 From geometry, Upp sin B = ry + r4sin® w & Vp istangent tothe circular path of B, My, thus Vp =1OeSO For rod BD Von = laa SB B: p+ Yap = 0+ Van Ya = Ve D (@) For matching direction @= 8 or = 180° + f For B=0, sinf=sind — sothat—Igpsinff =r, +r,sin 4.7 w-t% 250-70" sin B= 29, 0-25 For @ = 180°+ f, sind =-sin p, Igp Sin B = ry —rysin B B= 126° = 192.694 no +r 250470" (6) For matching magnitudes vy = vp = (72) «sna Tap ap = 144» ee 250 For @ = 22.9%, mp = 5.60 rads ) For 0= 192.6%, gp = 5.60 rads)PROBLEM 15.57 In the engine system shown, / = 8 in, and 5 =3 in. Knowing that the crank AB rotates with a constant angular velocity of 1000 rpm clockwise, determine the velocity of piston P and the angular velocity of the connecting rod when (a) 8 = 0, (b) @ = 90°. SOLUTION (1000 60 (@ @ = 0°. Crank AB. (Rotation about A) aq = 3 in.f 4g = 1000 spm ) . ) = 104.72 rad’s 314.16 in/s—— 3)(104.72) Va = Yas Rod BD. (Plane motion = Translation with B + Rotation about B) +a Yo = Ye +08 wee vot = [314.16 — ]+ [oe — ] ¥p =0, Yo = 31416 ins vp=%p vp=04 Ox =" ae Op = 39.3 008 4 s “ (@) = 90°. Crank AB, (Rotation about A) tq = Sine . Ya = Youtas = (9104-72) = 314.16 ini She Rod BD. (Plane motion = Translation with B + Rotation about B.) Vo =a + Vow vo [= 314.16 | +[ vo 3 4] Yow = 0, ¥p = 314.16 ins Vp = Vp = 314.16 ins} vp = 26.2 fis | 4PROBLEM 15.58 In the engine system shown in Fig. P15.57 and P15.58, / = 8 in. and 6 =3 in. Knowing that the crank AB rotates with a constant angular velocity of 1000 rpm clockwise, determine the velocity of piston P and the angular velocity of the connecting rod when @ = 60°, a SOLUTION 49 = 1000 rpm = 1000) (2 = 104.72 rad’s ) @ = 60°, Crank AB. (Rotation about A) tp, = 3 in..°30° y, e > 4 Rod BD. (Plane motion = Translation with B + Rotation about B.) Ps Wy = * Geometry Isin B= rsind ee reap = (3)(104.72) = 314.16 ins S 60" Vp =¥a+ Vow [eo] = [314.16 60%] + [vars 37 A] Draw velocity vector diagram. 9 = 180° - 30° - (90° - f) = 78.95° Law of sines. sing vpsing _ 314.16 vp = “Sing . SUNG sin 78.95" cos 6 0s 18.95° vp = 2728 | 4 30° _ 314.165in30" 166 9g ing "08 Cos cosi8.95° ae “38 5 ee yyy = 20.8 rds) 4PROBLEM 15.59 In the eccentricity shown, a disk of 40-mm-radius revolves about shaft O ifs that is located 10 mm from the center 4 ofthe disk. The distance between the center 4 of the disk and the pin at B is 160 mm. Knowing that the “0mm angular velocity ofthe disk is 900 rpm clockwise, determine the velocity of the block when @ = 30°, 160 me 10mm SOLUTION Geometry. ° SS (04)sino = (4B)sinp 2 (04)sind _10sin30° R seb ap i609 PN ‘Shaft and eccentric disk. (Rotation about 0), 24 = 900 1pm = 30n rad/s v4 = (0A) a4 = (10)(30n) = 300m mm/s Rod AB. (Plane motion = Translation with A + Rotation about 4.) Men Ab a 8 7 a iB = A ow * : . a | oe | 2 Fee ve=vatVan [ee ]=[r4 % 60°] + [vu NA] Draw velocity vector diagram. 90° ~ f= 88.21° p = 180° — 60° ~ 88.21° = 31,79° Law of sines. ‘sing sin(90°- f) _ (300) sin 31.79° ~ 88.21" vy = 497 mm/s—PROBLEM 15.60 Determine the velocity of the block of Prob. 15.59 when @ = 120°. SOLUTION Geometry. 8B (04)sin(180° - @) = (4B)sin p a (QA)sin(180°- @) _ 10 sin60° A meee A meng 6 md ‘Shaft and eccentric disk, (Rotation about 0) po, = 900 rpm = 30x rad/s > 4 = (0A) 4 = (10)(30n) = 300% mm/s Rod AB. (Plane motion = Translation with A + Rotation about 4.) ae, eos ee + = he ® a Pied sen Ye =VatVan — [ve— ]=[3008S305] + [ve4¥ A] Draw velocity vector diagram. 90° + f= 93.10° @ = 180° — 30° — 93.10° 56.90 Law of sines. sing ~ sin(90° + A) v,sing _ (300n)sin 56 © sin(90°+ A) sin93.10° = 791 mm/sPROBLEM 15.61 AA straight rack rests on a gear of radius r and is attached to a block B as shown. Denoting by wp the clockwise angular velocity of gear D and by @ the angle formed by the rack and the horizontal, derive expressions for the velocity of block B and the angular velocity of the rack in terms of r, @, and ap. SOLUTION Gear D: Rotation about D. Tooth E isin contact with rack AB. KM Vp = rey DO Rack AB. — tan 0 len Plane motion = Translation with £ + Rotation about E. : % fives : : Coe 78s = 7 ie g oe 8 Ye=VetVar — [ve—]=[%e 54 +[vaclZ 4] Draw velocity vector diagram. ee res cos@ cosO Oy = optoPROBLEM 15.62 A straight rack rests on a gear of radius r = 3 jin. and is attached to a block B as shown. Knowing that a the instant shown the angular velocity of gear D is 15 rpm counterclockwise and @ = 20°, determine (a) the velocity of block B, (b) the angular velocity of the rack. SOLUTION Gar 0: Raion thet . Teo inca wi kA ve Vp = rep = (3)(0.5n) = 4.7124 inds ? 3 Rack AB. =. = s2424i ait Plane motion = Translation with £ + Rotation about E. < fred o£ + 8 = Wate ve=VerVae [Ye —]=[%2 9] +[%e0 44] Draw velocity vector diagram. =v, 4704 = 5.02 in/s Rn oe ¥8 = 0520" ~ cos20° > Vp = 5.02 in/s— 4 ® Yas = Ve tan 20° = 4.7124 tan 20° 71517 in/s go te LSI, 49 Teg 8.2424 yy = 0.208 rad/s)a % 5G Ne “Oye PROBLEM 15.63 Bar 4B is rotating clockwise and, at the instant shown, the magnitude of the velocity of point Gis 3.6 m/s. Determine the angular velocity of each of the three bars at that instant. SOLUTION Rod AB. (Rotation about 4) Rod DE. (Rotation about £) Rod BGD. YD =e + Yop Draw velocity vector diagram, % & Plane motion = Vp =(AB)O 4p = 0.12004) S45" Vp = (ED) ope = 0.15 py 245° ‘Translation with B +Rotation about B. [vp 248°] Ys S45") +[vo0] Vpyp = V2v_ = 012020045 = 21NIew 1 By, Ip O26 2 Iyo®ap = $00 = 0.060204» ‘y+ Vo Draw vector diagram. 20) 4p sin 45° VG = vysinds® = % 36 5 ee ees = 424 O.12sinas* ou = Ards }4 — O12sinas™” 1 yp = (.2)(24), a @gp = 30.0 rad/s) 4 Wp = ¥p = 0.12045 = vp _ 5.0912 OS 0912 m/s a yg = 339 rls ) 4 ten,S PROBLEM 15.64 In the position shown, bar AB has an angular velocity of 4 rad/s clockwise. Determine the angular velocity of bars BD and DE. fr) T L SOLUTION Bar AB. Rotation about A Vp = © gy Tyg = (4K) x (-0.25j) = (1.00 mvs)i Bar ED. Rotation about E Vp = @pgk % Ky = Opgk x (0.075 — 0.15}) = 0.15@p¢ 4 ~ 0.0750 p65 Bar BD. Translation with B + Rotation about B. Vere = @ppk * Fog = @ppk x 0.21 = 0.20%—pj Y= Vat Yon 0.150%p¢4 ~ 0.0750%p¢9 = 1.001 + 0.205) ‘Components: & @pg = ~6.6667 rad/s @pg = 6.67 rad’s ) 4 ~(0.075)(~6.6667 oy = rss nw =220008)4PROBLEM 15.65 In the position shown, bar 4B has an angular velocity of 4 rad/s clockwise. Determine the angular velocity of bars BD and DE. SOLUTION Bar AB. Rotation about A. Inumits of in/s Va = O yg % Ty = (Ak) x (10%) = 40 Bar ED. Rotation about E. 2400 p¢1 ~ 60 pe) Vp = Ope * Foe ~ Opgk x (-6i + 2.4) Bar BD. ‘Translation with B + Rotation about B. nok x (-4j) = deagpt Yor = ap * Toe Vp = Va + Vow ~2.4epel 602p¢§ = 40} + 40h Components: bpp = 40 pg = 6.6667 rad/s 3.67 rad/s) I: -24eope = 40m (2MEE) em =4mnats 4 mp 71PROBLEM 15.66 In the position shown, bar AB has an angular velocity of 4 rad/s clockwise. Determine the angular velocity of bars BD and DE. SOLUTION Bar AB, Rotation about A. Vp = © gp % Fyig = (AK) x (164 ~ 32)) = ~(128 inst + (64 in/s)j Bar ED. Rotation about E. Vp = @pgk X tye = yg X (16K ~20}) = 2007.6 + 160d Bar BD. ‘Translation with B + Rotation about B. Vos = @pok * yp = nok x (321) = 32040} Yo = Ya + Yow 20wppi + 160 p¢§ = -1281 + 64) + 320g) Components: i: wpe = 128, @pp = -6.4 rad/s Wye = 6.40 rad/s ) 4 J: U6cpy = 64 +320, 16, 64 mp = 35008 ~ 3p 32-2 = Samadls Opp = 5.20 rad/s >PROBLEM 15.67 At the instant shown, bar AB has a constant angular velocity of 25 rad/s ‘counterclockwise. Determine at that instant (a) the angular velocity of the rectangular plate FBDH, (b) the velocity of point F, SOLUTION Bar AB. Rotation about A. Wp = 25 rad/s) "sn = (02)(25) = Sms} Bar ED. Rotation about E. YD =%— — ¥p = 0.20 pe Plate BDHF. Translation with B + Rotation about B. F % F “ Fou a h 2N/ a 30° vo= testo to—]= bel] [ro0 420] Draw velocity vector diagram. vp 5 ¥ = 5.7735 mis Mer ‘p18 *c0s30° cos30° s . Yap _ 5.7735 = TBD = STTBS | 14.4338 rads Cooney) Od “oy @ nou = 1443 rads ) 4 ‘De Veg = BFeppyp = (0.2)(14.4338) = 2.8868 mis pig = 2.8868 m/s “30° e% Vp = Va + Var = [Sivsf ] + [2.8868 mvs 30°] 135 mis 54.9" )PROBLEM 15.68 Pa At the instant shown, bar DE has a constant angular velocity of 35 rad/s 5 ‘ clockwise, Determine at that instant (a) the angular velocity of the T i /gozy Fectangular plate FBDH, (6) the point on the plate FBDH with zero tu ‘mommy TP velocty ef —t SOLUTION Rod DE. Rotation about E. Opp = 35 rad/s Vp = Moe @pe = (02)(35) = 7 m/s — Rod AB. Rotation about A. Va=Yel vp = 02049 Plate BDF. Translation with D + Rotation about D. F F F me We Nee a ‘Vow = ‘®o oe ‘> Va= Yo + Van feo b]=f0— 1+ [van £307] Draw velocity vector diagram. Mo my 7 ‘sin30°~ sin30° Yow _ 14 nour = t= og = 35 rls =14mis We, @ Once = 350 rads) 4 Point of zero velocity lies above point D. ‘7 Yow = 02m nour 35 ® 200 mm above point D.PROBLEM 15.69 ‘The 4-inradius wheel shown rolls to the left with a velocity of 45 ins. Knowing that the distance AD is 2.5 in., determine the velocity of the collar and the angular velocity of rod AB when (a) ff = 0, (b) i = 90°. SOLUTION (@ p=o Wheel AD. CA = (CD) - (DA) = 4-25 = 1.5in. ¥4 = (CA) egy = (1.5)(11.25) = 16.875 inds — Rod AB. Va = Vat Van [ve] = [16875 —}+ Deal Vp = 16.8 in/s— @yp = 11.25 rads >) = 32,005° = 4.7170 in, cosy (CA) gp = (4.7170)(11.25) = 53.066 ins v, = [53.066 in/s ~. 32.005] @ = 18.663 with 4-+ Rotation aboutPROBLEM 15.69 CONTINUED A i a> Y : 'p Ve=Va+ Van [ve —}=[a207] +E veh] Draw velocity vector diagram, 5 = 180° - y (90° + 9) = 90° — 32,008° - 18,663° = 39.332° Law of snes. s % 32° aos0 r % vp, = Yasin _ (63.066)sin32.005° m4 ~ sin(90° + 9) ssin108.663° = 29.686 ins Yara «, 29.686 «9 37 sadly a = yay = 2.37 rads Oy = ES Oy = 2.37 rads)PROBLEM 15.70 ‘An automobile travels to the right at a constant speed of 80 km/h. If the diameter of the wheel is 560 mm, determine the velocities of | ts B,C, ‘D, and E on the rim of the wheel. SOLUTION v4 = 80 kmh = 22.222 m/| vo =04 ve = 560 mm 280 mm = 0.28 m 2222 _ 79.364 rad's ) 0.28 2 Yau = You = You = 70 = (0.28)(79.364) = 22.222 mvs Vy = Vg + Vg = [22.222 ind —- ] + [22.222 in/s—- ] vy = 444m's— 4 Vo = V+ Voy = [22222 inds— ] + [22.222 in/s «2 30°] Vp = 42.9 mis 215.0° 4 Ve = V4 + ¥p = [22.222 ins —~ ] + [22.222 inJs| ] vp = 314 mis S450PROBLEM 15.71 ‘A Sem beam AE is being lowered by means of two overhead cranes. At > the instant shown it is known that the velocity of point D is 1 m/s downward and the velocity of point £ is 1.5 m/s downward. Determine ve smo] (@) the instantaneous center of rotation of the beam, (6) the velocity of 2150-20 basa point 4 ‘SOLUTION LS als @ Lye =15+2~3=05m 0.500 mto the right of 4 o ee (03) = 0.1667 ms vq = 0.1667 ms | 4PROBLEM 15.72 ‘A 5m beam AE is being lowered by means of two overhead cranes. At the instant shown it is known that the velocity of point A is $42 mm/s downward and the velocity of point £ is 292 mm/s upward. Determine 7 , neat (2) the instantaneous center of rotation of the beam, (b) the velocity of ee SOLUTION @ C lies 3.25 m to the right of 4. io ~ lac = 3.5 ~ 3.2494 = 0.2506 m 1.0418 mvs} ® Icoe = (0.2506)(0.1668) Vp = 41.8 mmis | 4PROBLEM 15.73 ‘At the instant shown during deceleration, the velocity of an automobile is 40 fs to the right. Knowing that the velocity ofthe contact point 4 of the wheel with the ground is 5 fs to the right, determine (a) the instantaneous center of rotation of the wheel, (b) the velocity of point B, (6) the velocity of point D. SOLUTION C lies 1.714 in. below 4. Vp = 75.0 fis—- Vp = 53.2 is 241.2° €PROBLEM 15.74 At the instant shown during acceleration, the velocity of an automobile is 40 f/s to the right. Knowing that the velocity of the contact point A of the ‘wheel with the ground is 5 fl/s to the left, determine (a) the instantaneous center of rotation of the wheel, () the velocity of point B, (c) the velocity of point E. SOLUTION @ O) Vp = 85.0 fis—~ o 1.0 = (1.5186)(45) = 60.2 fs tang = 08, = 484° leo Vp = 60.2 fis S48.4°PROBLEM 15.75 ‘A 60-mm-radius drum is rigidly attached to a 100-mm-radius drum as shown. One of the drums rolls without sliding on the surface shown, and a cord is wound around the other drum. Knowing that end E of the cord is Fe oh 0 pulled to the let with a velocity of 120 mv, determine (a) the angular A velocity of the drums, (b) the velocity of the center of the drums, (c) the ° length of cord wound or unwound per second. 2 SOLUTION Since the drum rolls without sliding, its instantaneous center lies at D. @ © vq = (100)(3) = 300 mas v4 = 300 mms — Since v, is greater than vp, cord is being wound. 4 Yp = 300 ~ 120 = 180 mms ) ‘Cord wound per second= 180.0 mmPROBLEM 15.76 A 60-mm-radius drum is rigidly attached to a 100-mm-radius drum as shown. One of the drums rolls without sliding on the surface shown, and ‘ cord is wound around the other drum. Knowing that end E of the cord is pulled to the left with a velocity of 120 mm/s, determine (a) the angular velocity of the drums, (b) the velocity of the center of the drums, (c) the length of cord wound or unwound per second. SOLUTION Since the drum rolls without sliding, its instantaneous center lie at B. Ve = Vp = 120 mms — @ © v4 = 180 mms— Since v4 isto the right and vp isto the left, cord is being unwound. v4 —¥g = 180 +120 = 300 mms © Cord unwound per second = 300 mmPROBLEM 15.77 A double pulley is attached to a slider block by a pin at A. The 1.5-in.- : radius inner pulley is rigidly attached to the 3-in.-radius outer pulley. Knowing that each of the two cords is pulled at a constant speed as shown, determine (a) the instantaneous center of rotation of the double pulley, (6) the velocity of the slider block, (c) the number of inches of cord wrapped or unwrapped on each pulley per second, SOLUTION vo= Winds}, vp =8inds| fe ptme eae BD 45 =a Losin fo) 0 = 23 CA = 30-25 = 05 in, C lies 0.500 in. tothe right of 4. F o = 0.50 = (0.5)(4) = 2 inds v4 = 2.00 ins | © Yp-¥4= inst Cord DE is unwrapped at 12.00 in/s. vp - V4 = 6inJs| Cord BF is unwrapped at 6.00 inJ/s.PROBLEM 15.78 Solve Prob. 15.77, assuming that cord £ is pulled upward at a speed of 8 inJs and cord F is pulled downward at a speed of 10 inJ/s. SOLUTION we a ) F © vo=8ins}, vp =10ins| Yp tv, _ 8+10 BD 45 c=" =8 =2in a4 C4 =3-2=1in = 4rads Cllies 1,000 in, to the right of 4. € ¥4 = (1.000)q = (1.000)(4) = 4 ins v, = 4.00 inis | Vp - V4 = 12inJ/s{ Cord DE is unwrapped at 12.00 in./s. Vy -V4 = 6 ins} Cord BF is unwrapped at 6.00 in/s.PROBLEM 15.79 BS —~ Knowing that at the instant shown the angular velocity of bar DC is a RE — m7, 18 rd counerclockwis, determine (a) he angular velo of bee AB, (6) the angular velocity of bar BC, (c) the velocity of the midpoint of bar Dome 78 2 Y> BC. SOLUTION Bar DC. (rotation about D) Ye = @ep(CD) = (18)(0.25) =45 ms Yo = 4.5 mis “30° Bar AB. (rotation about A) vp = vp 430° Locate the instantaneous center (point /) of bar BC by noting that velocity directions at two points are known, Extend lines AB and CD to intersect at J. For the given configuration, point / coincides with D. IC = 0.25 m, 1B = 0.25¥3 m oe = = 45. = 18 rads} IC 0.25 Vg = (1B) gc = (0.25V3)(18) = 7.7942 mis? yy = 31.2 rads ) 4 (b) gc = 18.00 rad's) (©) Locate point M, the midpoint of bar BC. gle ICM is an equilateral triangle. IM = 0.25 m vy = (IM) age = (0.25)(18) = 4.5 ms Vy = 450mbs 730°PROBLEM 15.80 “ Knowing that at the instant shown bar AB is rotating countercloc ER tm and that the magnitude of the velocity of the midpoint of bar BC is Some ot a7. 2.6 m/s, determine (a) the angular velocity of bar AB, (b) the angular Vi velocity of bar BC, (c) the angular velocity of bar DC. SOLUTION Bar AB. (rotation about A) Bar CD. (rotation about D) Bar BC. Locate its instantaneous center (point 1) by noting that velocity directions at two points are known. Extend lines AB and CD to intersect at J. For the given configuration, point / coincides with D. Locate point M, the midpoint of bar BC. From geometry, triangle ICM is an equilateral triangle. IM = AB=CD=025m, 1B = 0.253 m Eeeaere > ne = THe = 73g 7 OAT) (@ ¥g = (JB)@gc = (0.25V3)(10.4) = 4.5033 mis yy = 2B. = 43033 ~ 18.0133 rads 4g = 18.01 rads )4 AB (0.25 a (b) @pc = 10.40 radis ) < © ¥e = (IC) og = (0.25)(10.4) = 2.6 ms cp = MC = © 2 10.4 rads ep = 10.40 rads) Dc 0.25PROBLEM 15.81 Knowing that at the instant shown the velocity of collar 4 is 45 inJs to the let, determine (a) the angular velocity of rod ADB, (6) the velocity of point B. SOLUTION a Collar A. (Rectilinear motion) v4 = 45 ins — Rod DE. (Rotation about E) Vp = Yoh, Locate the instantaneous center (point C) of bar ADB by noting that velocity directions at points 4 and D are known. Draw AC perpendicular to v,and DC perpendicular to ¥p, (a) © gpg = 6.00 rads ) ® BF = 4+3tanf = 5.6in. CF =3in. = 6.353 in Vp = (CB)dgpg = (6.353)(6.00) = 38.1 nis 90° — 9 = 61.8° 8.1 inJs S61.8° VaPROBLEM 15.82 Knowing that at the instant shown the angular velocity of rod DE is 2.4 rad/s clockwise, determine (a) the velocity of collar 4, (6) the velocity of point B. Rod DE. (Rotation about E) Ope = 2.4 rads) Vp = (ED) apg = (6)(2.4) = 14.4 inst Collar A. (Rectilinear motion) Wye Locate the instantaneous center (point C) of bar ADB by noting that ‘velocity directions at points 4 and D are known. Draw AC perpendicular to v, and DC perpendicular to vp @ ¥%4 = (CA) apy = (7.8)(36) = 27 inds v4 =210inis— 4 (6) nea) BF = 4+3tanf = 5.6'in. CF =3in, F3 BF” 36 (cry + (Bry = V3 +56 = 6.353 in, tang p= BP (CB) app = (6.383)(3.6) = 22.9 ins 90° - p = 61.8° Vp = 22.9 ins 061.84PROBLEM 15.83 An overhead door is guided by wheels at 4 and B that roll in horizontal and vertical tracks. Knowing that when @ = 40° the velocity of wheel B is 0.6 m/s upward, determine (a) the angular velocity of the door, (b) the velocity of end D of the door. O6msf vy =vy — Locate the instantaneous center (point C) by noting that velocity directions at points 4 and B are known. Draw AC perpendicular to v,, and BC perpendicular to BC = (AB) sin = 2sin40* = 1.28557 m @ yg) = 28 06 _ 9.46672 rads “BC ~ 128557 4pp = 0.467 radi) 4 Toc = ac + Foe = [1.28557 m— ] +[2mN4o%] = 2.9930 m "530.79" = 30.79° ® Vp = Foc ano = (2.9930)(0.46672) = 1397 ms vp =1397 V8 90° ~ B = 59.2°PROBLEM 15.84 Rod ABD is guided by wheels at 4 and B that roll in horizontal and vertical tracks. Knowing that at the instant shown = 60° and the velocity of wheel B is 800 mm/s downward, determine (a) the angular velocity of the rod, (6) the velocity of point D. SOLUTION vp=800mms| vy =¥y— Locate the instantaneous center of rod ABD by noting that velocity directions at points A and B are known, Draw AC perpendicular to v, and BC perpendicular to Vp vp _ 800 BC ~ 300c0530° .0792 rads} @ 480 ay = 3.08 rails 4 ((600c0s30°)° + (300sin30")> = $40.83 mm 300sin30° 600c0s30° 7 =1610° 9-7 = 3. o ¥p = leo®any = (540.83)(3.0792) = 1.665 x 10°mm/s Vp = 1.665 ms73.9°PROBLEM 15.85 Small wheels have been attached to the ends of bar AB and roll freely along the surfaces shown. Knowing that the velocity of wheel B is 2.5 m/s tothe right at the instant shown, determine (a) the velocity of end A of the bar, (6) the angular velocity of the bar, (c) the velocity of the ‘midpoint of the bar. Vga vy A045, vy = 2.5ms— Locate the instantaneous center (point C) of rod AB by noting that velocity directions at points A and B are known. Draw AC perpendicular to v, and BC perpendicular to vp. Let 1 = AB = 600 mm = 0.6m Law of sines for triangle ABC. 6 a 1 0.84853 m sin75° sin60® sin45® a= 0.73485 m, b= 0.81962 m on Be = 3.0502 rads 962 (@ v4 = aay = (0.73485)(3.0502) = 2.24 mis V4 = 2.24 mis £45.09 .05 radis ® (© Let Mbe the midpoint of 4B. Law of cosines for triangle CMB. 1Y _ opt o£} - hese (0.81962)* + (0.3)° - (2)(0.81962)(0.3) cos 60° 0.3sin 60° 0.71825 * Baur My = map = (0:71825)(3.0502) = 2.19 mss, Vy = 219 mis 621.294PROBLEM 15.86 At the instant shown, the angular velocity of bar DE is 8 rad/s ‘counterclockwise. Determine (a) the angular velocity of bar BD, (b) the angular velocity of bar AB, (c) the velocity of the midpoint of bar BD. mo A (60 mn ee | SOLUTION Bar DE. vp = ew,, = (0.6)(8) = 48 ms Vp =4.8m/s — Bar AB. vp = a0,, = 0.2 Oyp Vp = 0.204g > 30° Locate the instantaneous center (point C) of bar BD by noting that velocity directions at points B and D are known. Draw BC perpendicular to vj, and DC perpendicular to vy. seat bet 1 = BD =06m. Law of sines for triangle CBD. 6 a 1 06 sin120° ~ 5in30® $in30° ~ $in30° 5 =103923m, d= 06m @ =— =8nds Opp = 8.00 radis ) 4 1.03923)(8) = 8.3138 m/s yy = 41.6 rad’s ) 4 (6) Law of cosines fr triangle CMD. mad + (3) = 24 eos120° Ble? = 06 +(03 0.793725 m — (2)(0.6)(0.3) ¢0s120°PROBLEM 15.86 CONTINUED Law of sines. sin B 120" ing = (03)sin120° m™ © 0.19375 » B=19.1° Velocity of M. vy = magn = (0.793728)(8) = 6.35 mis Vy = 6.35 mis%19.1°-¢PROBLEM 15.87 Arm ABD is connected by pins to a collar at B and to crank DE. Knowing that the velocity of collar B is 16 in/s upward, determine (a) the angular velocity of arm ABD, (6) the velocity of point 4 36% 64 SOLUTION vpei6inst tny-H 5 yang Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are known. Draw BC perpendicular tov», and DC perpendicular to vp. CI =(Dd)uany ~ (64/5) = 2.6667 in, CB = JB ~ CJ = 12.8 ~ 2.6667 = 10.1333 in. 579 rads) ve 16 7 @ ann = 285 = Fpaagag 7 157895 rs "a0 CK = CB + BK = 10.1333 + 7.2 = 17.3333 in, KA 3.6 === = 11.733°, 90° - 6 = 78.3" CK 17.3333) B= M733 6 . c= SE 173333177032 in cos cos .733° tan p ® ¥4 = (AC) sap = (17.7032)(1.57895) = 28.0 ins, v4 = 28.0 in/s.78.3°PROBLEM 15.88 ‘Arm ABD is connected by pins to a collar at B and to crank DE. Knowing that the angular velocity of crank DE is 1.2 rad/s counterclockwise, determine (a) the angular velocity of arm ABD, (6) the velocity of point 4. SOLUTION tny = F223, y= 226007, Ep = 72-2 1310, DF 12 087” e087 (ED) eopy = (13)(1.2) = 15.6 inds ve= al Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are known. Draw BC perpendicular to vp and DC perpendicular to v., DI _ 6A Vp = 156 inis ay 5 ; Cy = (Di)tany = (a5) = 2.6667 ing CD = LE = 2 = 69333 in to. = 156 725 rads) gy = 2.25 ad's) . ano ~ Cy ~ 69333 CK = KJ ~ CJ = 20 ~2.6667 = 17.3333 in. AK 36 — = 11733" 90°- B= 78.9 mee Tia? a ac = E1733 «177932 in cosh cosh ¥4 = (AC) yap = (17.7032)(2.25) = 39.8 ins ) v4 = 398 in/s 778.3"PROBLEM 15.89 ‘The pin at B is attached to member ABD and can slide freely along the slot cut in the fixed plate. Knowing that at the instant shown the angular velocity of arm DE is 3 rad/s clockwise, determine (a) the angular velocity of member ABD, (b) the velocity of point 4. SOLUTION y Opp = 3 rads ¥p = (DE)ene = (160)3) 480 mms Vp is perpendicular to DE. v= ve} Locate the instantaneous center (point C) of bar ABD by noting that velocity directions at points B and D are known, Draw BC perpendicular to vp and DC perpendicular to Vp. BD = 120mm, DK = (BD)cos30* = 120c0s30° DK _ 120cos30° cos p = DK _ 1200830" =D 160 , B= 49.495", 80° - 30° - f = 100.505°PROBLEM 15.89 CONTINUED Law of sines for triangle BCD. (BD)sin30° _ 120sin 30° = 78911 mm sin sin ac = (BD)sing _ 120806 155.177 mm sing ~~ sin Law of cosines for triangle ABC. (Ac) = (BC) + (4B) - 2(4B)(BC) cos 150° (4c)? = 155.177? + 200? - (2)(155.177)(200)cos150°, AC = 343.27 mm. Law of sines. sing = y= 169" pene 5 @ gp = 22, = EO = 60828 nds) @4gp = 6.08 rad/s >) 4 Oy ¥4 = (AC) ean = (343.27)( 6.0828) = 2088 mms v4 = 2.09 ms 773.19PROBLEM 15.90 ‘Two identical rods ABF and DBE are connected by a that at the instant shown the velocity of point D determine the velocity of (a) point E, (6) point F. at B. Knowing 100 mm/s upward, SOLUTION Locate the instantaneous center (point C) of bar DBE by noting thatthe velocity directions at points B and D are known. Draw BC perpendicular to v, and DC perpendicular to Vp. Law of sines for triangle BCD. BC = BD = 180mm vp _ 200 oat = Cy ~ 347.73 0.57515 rad/s Vp = (BC)epme = (180)( 0.57515) = 103.528 mmisPROBLEM 15.90 CONTINUED = 0.57515 rad/s) BF = vp _ 103.528 80 ve = (AF) gap = (300)(0.57515) = 172.546 mm's Law of cosines for triangle DCE. (cey = (coy + (DEY -2(€D)(DE)eos15° (cEY = 347.73? + 300° - (2)(347.73)(300)cos15°, CE = 96.889 mm EH = DE sin15° = 300 sin15° _ BH _ 300sin15° =36.7° ce” 9689 = cos B @ ve = (CE) sco = (96.889)(0.57515) = (55.7) mms, vp = 55.7 mms 36.7° 4 ® vp = 172.5 mms 475.0°PROBLEM 15.91 ‘Two rods AB and BD are connected to three collars as shown. Knowing that collar A moves downward with a velocity of 6 in./s, determine at the instant shown (a) the angular velocity of each rod, (b) the velocity of collar D. SOLUTION I vy = 6inisl, vy = vp 030° Locate the instantaneous center (point C) of rod AB by noting that velocity directions at points A and B are known. Draw AC perpendicular to v,, and BC perpendicular tov. ACE CB, AB sin30° sin30° — sin120° Triangle ACB. Law of sines. losin30° =cB= = 57035 in. AC = CBS 120° @ yy = 24 = 2 =1.03923 rads) “0 4c ~ sams ; 4g = 1.039 rad’s) Va = (CB)eo4p = (5.7735)( 1.03923) = 6 ins £30"PROBLEM 15.91 CONTINUED Locate the instantaneous center (point /) of rod BD by noting that velocity directions at points B and D are known. Draw BI perpendicular to v, and DI perpendicular to v,. BI DI___BD sin 120° ~ sin30° ~ sin30° ‘Triangle BID. Law of sines. DI =10in. 46 inJs 346 rads) Vp = 3.46 inls—PROBLEM 15.92 tant shown, the velocity of collar A is 1.4 fs to the right and of collar B is 3.6 fs to the left. Determine (a) the angular of bar AD, (b) the angular velocity of bar BD, (c) the velocity of SOLUTION ‘Method 1 ‘Assume vp has the direction indicated by the angle 7 as shown. Draw CDI perpendicular to vp. Then, point Cis the instantaneous center of rod AD and point Is the instantaneous center of rod BD. vVio.s? +1447 = 18 in, Geometry. AD cos 05 8 a=144-108tanf 6 =54+72tanp Kinematics. v, = 1.4 fs = 168 Vp = 3.6 fs = 43.2 nds Op = 4 = 22, 168, _ 0.583335 0 32 v4, _ W8sin® cos f diy cosp 144 ~10.8tan 6 = 0.58333(5.4 + 72tan f) 11.25 =1Stanf, tan = 10.75, f= 36.87° 144 — (10.8)(0.75) = 63 in,PROBLEM 15.92 CONTINUED b = 54+ (7.2)(0.75) = 10.8 in, ® pp 4rad/s gp = 4.00 rad/s) 4 b 108 (©) ¥p = cedyy = (13.5)(2.6667) = 36 ins, vp = 3.00 fs > 53.1° 4 Method 2 Consider the motion using a frame of reference that is translating with collar 4. For motion relative to this frame. 14 fs = 16.8 ins — Vg = 36 fls = 43.2 in/s — wa Van 20, Vary = OOin/s — tang = 108g -36.87° ivy cos Vpy4 = 1804p > 0 Locate the instanteous center (point C) for the relative motion of bar BD bby noting that the relative velocity directions at points B and D are known, Draw BC perpendicular to vp, and DC perpendicular to ¥y4- cD = BC =(CD)cos8 + 5.4 = 15 in. w & vad. ©. 4 rads 8 BAS 7 Vea = (CD) ony = (12)(4) = 48 inds @ 4p = 2.67 rad/s *) 4 ) Opp = 4.00 rad/s) © Vp =¥4+¥og = [16.8 ins — ] +[48 nls SO] = 36 in/s % 53.13° vp =3fls 531° €PROBLEM 15.93 ‘Two rods AB and DE are connected as shown. Knowing that point D moves to the left with a velocity of 800 mm/s, determine at the instant shown (a) the angular velocity of each rod, (6) the velocity of point 4. - hem item imal SOLUTION vp =800mms —, vp=ve} Locate the instantaneous center (point C) of rod DE. Draw DC perpendicular to vi) and EC perpendicular to vp. CD = 320mm, Ye vp _ 800 = to 0 La Sra @ pe = 2 = 399 7 2S TAs pe = 2.50 rads) Vp = (CB)eogy = Ses = 400/2 mms, Vp is perpendicular to CB. vay Locate the instantaneous center (point ) of rod AB. Draw BY perpendicular to vp and A/ perpendicular to v , AL = 500mm, - BI = 2502 mm oy = 1176 nds 4 ® ¥4 = (AD) 4 = (500)(1.17647) = $88 mms v4 = 588mms — €PROBLEM 15.94 ‘Two rods AB and DE are connected as shown. Knowing that point B ~T_ moves downward with a velocity of 1.2 mvs, determine at the instant 4 shown (a) the angular velocity of each rod, (b) the velocity of point £. bom SOLUTION vp =1200mm/s | v4 = v4 — Point C's the instantaneous center of bar ADB. CB = 600 mm (@) o, A = 21ad/s } 4g = 2.00 rad/s cp = 2% ~ 340 mm cos 8 ¥p = (CD) ogy = (340)(2) = 680 mvs vp = 680 mm/s £ 8 vg=%—— Point Ii the instantaneous eenter of bar DE: pe FF, 1D, cos ~ cosh 136 mm oo = Smads pg = 5.00 rad/s >) FI =(DF)tanf = 120tan 6 = 64 mm El = EF — FI = 160 - 64 = 96 mm. ® vp = (El)ope = 480 mms vp = 480mm/s — €PROBLEM 15.95 Two 20-in. rods AB and DE are connected as shown. Point D is the midpoint of rod AB, and at the instant shown rod DE is horizontal. Knowing that the velocity of point 4 is 1 fvs downward, determine (a) the angular velocity of rod DE, (6) the velocity of point E. 242-2 _ ‘AC ~ 20c0s30° 69282 rad/s") CD = 10in. Vp = (CD) 49 = (10)(0.69282) = 6.9282 ins Vp = 6.9282 in/s K 30° Ve ave 230° Point /is the instantaneous center of bar DE. DI = 20cos30° Yp _ 6.9282 @ ot ~ Dy ~ 300830 4 rad/s pg = 0.400 rad/s >) o Ve = (El)epe = (20sin30°)(0.4) = 4 ins Vp = 0333 fs 30°PROBLEM 15.96 At the instant shown, the angular velocity of bar AB is 4.5 rad/s counterclockwise and the velocity of collar £ is 28 in/s to the right. Determine (a) the angular velocity of bar BD, (6) the angular velocity of bar DE, (c) the velocity of point D. ‘SOLUTION Vp = 8045 = (8)(4.5) = 36 in/s — Let point C be the instantaneous center of bar BD. Define angle # and lengths a and b as shown. Vp = 28in/s Let point / be the instantaneous center of bar DE. Define lengths ¢ and d as shown, vp _ 3605 oe = Se > 6a(8— a Ve =(8-d)anpe = te =28 10 6 2210) pe tomng, d= 6tang e.6 cos’ °~ cos 10)8-6tanp_ - . (202) Teme =28 or 48 36am = 28t¢n p tnp-S-075 p=3687" cosp =08 Sin, c= 75in, d=45in, 4.80 rad/s) 4 pg = 8.00 rad/s) (vp =(12.8)(4.8) = 60 ins Vp = 5.00 fis > 53.19 <PROBLEM 15.97 Describe the space centrode and the body centrode of rod ABD of Prob. 15.84. (Hint. The body centrode does not have to lie on a physical portion of the rod.) SOLUTION Y ¢_ Draw.xand y axes as shown with origin atthe intersection of the two slots. These axes are fixed in space. w=, weave o Locate the space centrode (point C) by noting that velocity directions at ; points 4 and B are known, Draw AC perpendicular to v and BC vz. perpendicular to Vp aR ° ‘The coordinates of point Care x- = -Isin and y¢ = eos 8 x2. + y2 =P = (300 mm) ‘The space centrode is a quarter circle of 300 mm radius centered at O. Redraw the figure, but use axes x and y that move with the body. Place origin at 4. Xe = (AC)cos 6 = feos? = 11+ cos2) Ye = (AC)sin = eos sin p sin2p : (xe-4) #98 = (4) = (4c -1s0 28 = 150 ‘The body centrode is a semi circle of 150 mm radius centered midway between A and B.PROBLEM 15.98 Describe the space centrode and the body centrode of the gear of Sample Prob. 15.2 as the gear rolis on the stationary horizontal track. SOLUTION Let points 4, B, and C move to 4',B', and C’ as shown. ‘Since the instantaneous center always lies on the fixed lower rack, the space centrode is the lower rack. space centrode: lower rack Since the point of contact ofthe gear with the lower rack is always a point on the circumference of the gear, the body centrode is the circumference of the gear. body centrode: circumference of gear A <4PROBLEM 15.99 Using the method of Sec. 15.7, solve Prob. 15.59. SOLUTION @p4 = 900 rpm = 30x rad/s) 8 V4 = (OA) e294 = (10)(30) = 300% mm/s Vee FO Veh Locate the instantaneous center (point C of bar BD by noting that velocity directions at point B and A are known, Draw BC perpendicular to ‘Vp and AC perpendicular to v , ing = (4)sin30° _ 10sin30° sf = — 5 160 + B= lI" OB = (OA)cos30° + (AB)cos f = 10c0s30° + 1600s 8 = 168.582 mm ac = 28 _ 94 = 8582 19 ~ 184.662 mm 0530 £0830 BC = (OB)tan30° = 97.377 mm a4 se Oa = AC ~ BC ve ( Pee bad aC 184.662 vy = 497 mm/s — 4PROBLEM 15.100 Using the method of Sec. 15.7, solve Prob. 15.70. SOLUTION vy, = 80 knvh = 22.222 mis vo =04 = 560mm, r= 4d = 0280 mm = 0.28 m Point C is the instantaneous center. (0.56)(79.364) = 44.4 mis vy =444mis — 300) =15° CD = 2reosis? = 2)(0.28)cos15° = 0.54092 m ¥p = (CD)e = (0.54092)(79.364) = 42.9 mis, vp = 42.9 mis 2 15.04 CE = rV2 = 0.28V2 = 0.39598 m vp = (CE)@ = (0.39598)(79.364) = 31.4 mvs, vp =314m/s S 45.0" €PROBLEM 15.101 Using the method of Sec. 15.7, solve Prob. 15.65. SOLUTION vp = (AB)a = (10)(4) = 40 in/s va=ve} tan B aa B= 21.801° 6 vo= DAB Locate the instantaneous center (point C), noting that velocity directions at points B and D are known. Draw BC perpendicular to vg and DC perpendicular to vp. cB cos 8 = 10.7703 in. Opp = 4.00 rad/s ) ¥p = (CD) gp = (10.7703)(4) = 43.081 ins Ges f DE = = 64622 in = 6.67 rad/s) @pp = 6.67 rad/s); J ben —t— nin PROBLEM 15.102 Using the method of Sec. 15.7, solve Prob. 15.66. SOLUTION Geometry. pee aK 20+12 f= 26.565", 90° f= 63.435" 7= 3866, 90°-7 = 5134 pe = KE _ 95613 in, e087 Velocity analysis. 4p = 4 rads ) ¥p = (AB) gp = (35.777)(4) = 143.108 ins Ye="e~S A YD er Locate the instantaneous center (point C) by noting that velocity directions at points B and D are known. Draw BC perpendicular to vy and DC perpendicular to Vp. Law of sines for triangle BCD. sin(90"- 7) ~ sin(90°— 7) ~ sin(# + 7) cp ~ 32sin51.34° cD = 328i 63.435° _ 51 503 in, sin65.225° 2radis } py = 5.20 rad/s) ¥p = (CD)ogp = (31.523)(5.2) = 163.92 vp _ 163.92 ) E2613 OAS) Ope = 6.40 rad/s) & yPROBLEM 15.103 Collars B and D are pin-connected to bar ABD and can slide along fixed rods. At the instant shown the angular velocity of bar ABD is zero and the acceleration of point D is 24 fis? to the right. Determine (a) the angular acceleration of the bar, (b) the acceleration of point B, (c) the acceleration of point 4 SOLUTION = ypc =0, ypc =A), Ap = ay 60%, ay = 24 fs? — Typ = 15 7 30%, typ =3 ft 30° a0 + (40), + (208), [ay 60°] = [24 — ]+ [15a > 60°] + [(1.5)(0°) ~ 30°] ‘Components. ti: aycos60° = 24 — (1.5c0s60°)a +0 0 +]: agsin60° = (1.Ssin60°)a ay = 1.Sa ‘Substituting into(1), (1.5c0s60°)a = 24 ~ (1.5cos60°)a 24 (a) caer 6 rad/s* © 4yc = 16.00 rad/s? *) © From 2), ‘ay ~(1.5)(16) = 24 fs? ay = 240 fs? 60° 4 © 84 = 4p +(auo), + (avo), = [24 = ]+ fa > 60°] +[(9)(02) 30°] = [24 — ] + [48 > 60°] + [0] a, = 41.6 fis? |<PROBLEM 15.104 Collars B and D are pin-connected to bar ABD and can slide along fixed rods. At the instant shown the angular velocity of bar ABD is zero and its angular acceleration is 12 rad/s’ clockwise. Determine (a) the acceleration of point D, (6) the acceleration of point B, (c) the acceleration of point A. ‘SOLUTION o= oye =0, age = 12nd? ), Collar B slides along a straight rod. (az) = ap % 60° Collar D slides along a straight rod. Ap = ap — Typ = 1S 730° yp = 3 ft 30° 8 =p +(ta0), + (ano), ip 60°] = [4p — ]+[(1.5)(12) 60°] +[(1.5)(0)? 30°] Components. wt: agcos 60° = ay + 18c0560° + 0 o +f: ~apsin60° = 18sin60°, (a) From (1), Gp = ag c0s60° — 18c0s60° 18 fs? Ap = 18.00 fs? — ® ay = 18.00 f/s* ~~ 60° © a4 = Ap + (40), + (440), = [18 —]+[(9)(2) « 60°] +[(9)(0)? < 30°] = [18 —] +36 < 60°] +[0] a, =31208 4PROBLEM 15.105 ‘A 5.m steel beam is lowered by means of two cables unwinding at the ‘same speed from overhead cranes. As the beam approaches the ground, * the crane operators apply brakes to slow the unwinding motion. At the instant considered the deceleration ofthe cable attached at Bis 2.5 [tse ——-— 22 —} 150. 2 ‘ | hile that of the cable attached at D is 1.5 m/s, Determine (a) the angular acceleration of the beam, (6) the acceleration of points A and E. SOLUTION , asa), @%0, tyg=2m— a,=25ms'f, ap =1.5ms*f a Co 80 = 44 + (201), + (402), sb bs ist= [2st }+L2e b]+[layo7 — (@) 1.5 =25-2a @ = 0,500 rads?) ® a, = ay +(ae0), + (008), = [25 t]+[(15)(05) {]+[0 ~] = 3.25 ms" f 3.25 mis? | 4 ap = ap + (a0), + (Ae), = [25 t]+[(2+15)(05)|]+[0 —] = 0.75 ms? | ag = 0.750 mis? |PROBLEM 15.106 For a S-m steel beam AE the acceleration of point A is 2 m/s” downward « and the angular acceleration of the beam is 1.2 rad/s* counterclockwise. Knowing that at the instant considered the angular velocity of the beam is be tsm—-— 15m—] zero, determine the acceleration (a) of cable B, (b) of cable D. SOLUTION ay-2me |, a=Lands? tpy=lSm—, ty =3Sm— ot oo _ y @ a, = 94 +(an,), +(awa), ge = [24] +[.5)02) 1} +[(0.5)(0° — ] =02ms? | ay = 0.200mis? | ® +(204), + (04), =[24}+[65)02) t]+[6.3)(07 — ] =22ms*f ay =220ms' f €PROBLEM 15.107 Bar BDE is attached to two links AB and CD. Knowing that at the instant shown link AB rotates with a constant angular velocity of 3 rad/s clockwise, determine the acceleration (a) of point D, (b) of point E. 4 D 715i 4 . vin SOLUTION Velocity analysis. 4p = Stalls} — cy = Ap Dy Ope = On Va = (4B)o49 = (12)(3) =36in/s |, vp = [900 |] Vp = Va + Von 910 | = [36 |] + [75 em —] Components: Hes -15e@yp=0 Oy = +}: Ym =36 — ap = 4radis Acceleration analysis. Gy2=% ep =p Ds Gacy = Ba > ay =[(AB)aay | ]+[(AB) orig — ] = (12)(0) | + (12)(3)? — = 108 in/s? — 8 =[(CD)ac | ]+[(CD)e%> — }= [Paco |] +[(9)(4)? — ] = 9aco | + 144 nds? — ay =a, +(Aon), + (tan), (ao), = [(8D)asp — ] = 7.55 — (00), = [(D)eio t] = (7)(0)' T= 0 4p = a5 +(808), + (20), [Paco |] + [144 — ] = [108 —]+[75a99 —] + [0] Components: +|: Say =0 acy =0 Ar 144 =108+7Say) agp = 48 rads? }PROBLEM 15.107 CONTINUED (a) ay = [(9)(0) |] + [144 — ] = 144 ins? — Ap = 12.00 ft/s? — 6) (0p), = [(2E)au — J=[(7.5)(48) — ] = 36 inis? — (+20), = [(DE)oio 1]=[(0.75)(0F | ]=0 42 = A +(A20), + (208), = [144 —] +36 —] +0 1] = [180in? — ] ig = 15.00 fis? —PROBLEM 15.108 Bar BDE is attached to two links AB and CD. Knowing that atthe instant shown link AB rotates with a constant angular velocity of 3 rad/s clockwise, determine the acceleration (a) of point D, (6) of point E. SOLUTION Velocity analysis. Oy =31adls } cp =e), — ave = May > Vo = (AB)eray = (12)(3)= 36 ins |, vy = [Sen |] p= Vat ¥on Saco | = [36 |] +[75 0% —] Components: Ht 75a =0 Op =0 +]: 9ep =36 My = 4 rad/s > Acceleration analysis. Oy = cp = acy + — Agcp = App > ay =[(AB)ay | ]+[(AB)orin —] — (12)(0) | + (12)(3)> — = 108 ins? — ap =[(CD)aen | ]+[(CD)eo =] [Saco }] +[(9)(4)’ = ten | + 144 in/s? — ty = 44+ (aon), + (tno), (208), = [(BP)as0 — ] = 75a — (+02), = [(D)@io ]=(75)(0)' t= 0 tp~ 1 +(t00), + (408), [Paco |] {144 =] = [108 — J+ [2Se —] +10] Comapooms: +: acy = acy = 0 sts M44 =-10847.Sayp gy = 33.6 rad’s? >PROBLEM 15.108 CONTINUED ) ay = [(9)(0) | ]+[144 — ] = 144 in/s? — ay = 12.00 fs’ — ) (aep), = [(DE)au — ] = [(7-5)(33.6) — ] = 252 nis? — (2:0), = [(DE)o%n 1} =[(7-5)(0)"] = 0 ay = ap +(Ae0), + (ann), = [144 = ] + [252 — ] +0 = 396 ins? — ay = 33.0 ls? =PROBLEM 15.109 At the instant shown the angular velocity of the wheel is 2 rad/s clockwise and its angular acceleration is 3 rad/s’ counterclockwise. Knowing that the wheel rolls without slipping, determine the location of the point on the wheel with zero acceleration a this instant. SOLUTION Let point C be the contact point. vo=0, (ac),=0, o20), @ fc + Voc = 0+ bo —* = bay Point O moves parallel to x-axis. 10+ (aco), + (aco), Uae), = ]+[lee), 1] = lao = 1+ [62 — ]+ [o0? f ] 0+ [(ac), 1] = [40 ] + [5a— ] +[0° t ] From x-component, a = Acceleration of the point with coordinates (x, ") ap + [raf] + [ve —] + [x0 — J +[ 0? |] = [ba —] + [xa 1] + [ye —]+[x0* — ]+[y0* |] Set a= 0 and resolve into components. 2 (b+ y)atx Oy : xa - yo? =0 @ From(2), x=22, — From(1), (b+ »)a +22 =0 @ @ Data:PROBLEM 15.110 ‘The motion of the 3-in.-radius cylinder is controlled by the cord shown. Knowing that end E of the cord has a velocity of 12 in/s and an ; acceleration of 19.2 in/s*, both directed upward, determine the acceleration (a) of point 4, (b) of point B. SOLUTION Velocity analysis. Point A is the instantaneous center of rotation of the cylinder. ve = vg = 12in/s. we 2 > Yer ate - oa ras ro = Dro @ 2 @HO) 3 Acceleration analysis. ra? = (3)(2)° = 12 inJs? a= [(ec), 1] +[lec), — }=lee t1+[lee), —] ac = 84+ [(C0n), t]+[lecra), = ] lee t}*[(@e), — ]= Lae = ]+ [2-0 1] +[2r0* —] 192 1] +[(ac), — ]= [as — ]+ [6 f] +[24 —] o From(1), Components +{: 19.2= 6a, a=32rads* ) 80 = 84+ (Bou), + (ta), (ae t=Lee— Joba t]=[ro* —] [ac 1] = [ae —~ ]+[9.6inis? f ]+[12 ins? — ] ‘From which ag =96in/s? and a, =12in/s? ag = 9.6 ins? f @ a, = 12.00 in/s* — © y= 40 + (no), +(42e), = [96 }]+[ra —]+[ro? | ]= [96 t] +196 —]+[12 |] = [9.6 ins? — ]+[2.4 inis? j ay = 9.90 in/s? 7 14.0° €PROBLEM 15.111 ‘The motion of the 3-in.radius cylinder is controlled by the cord shown. Knowing that end £ of the cord has a velocity of 12 in/s and an acceleration of 19.2 in/s’, both directed upward, determine the accelerations of points Cand D of the cylinder. SOLUTION Velocity analysis. Point Ais the instantaneous center of rotation of the cylinder. yc = vp = 12 in/s. we __12 vento ane =2nds >) 2r (2)(3) Acceleration analysis. ro? = (3)(2) = 12 in/s? sla] ac =[lec), t}+[lec), —]=lee 11+ [(ec), —] te = a4{ (04), 1}+[(004), — J fee {]+[lec), — ]= [aa ]+ frat] + [ara — ] (192 ]+[(ec), — ]= Lau > ] +60 t] +24] w From (1), Components +]: 192=62, @=32mds? ) 86 = 84 +(801), + (Ac), fac 1] = [ae ]+ [ra t]+[ro? — ] [ae 1] = [ae — ]+[9.6ins? t ]+[12 ins? — ] From which a =96inJs and ay =12inJs?> ag = 9.6 ins” |PROBLEM 15.111 CONTINUED From (1), Components +: (ac), = ~a, +24 = 12+ 24 = 12 ins? Then ac = [192 inds? | }[2 ins? — ] ac = 22.6 ins? >» 58.0° < 0c), +(420), = [96 |]+ [ra ]+[ra? t] = [9.6 {]+[96 —]+[12{] 1D = 8G = [216 nds? 1] +[9.6ins? — ] 23.6inis? 4 66.0° €PROBLEM 15.112 ‘A wheel rolls without slipping on a fixed cylinder. Knowing that at the instant shown the angular velocity of the wheel is 10 rad/s clockwise and its angular acceleration is 30 rad/s* counterclockwise, determine the acceleration of (a) point 4, (6) point B, (c) point C. SOLUTION Velocity analysis. r=0.04m w= 10rad/s ) Point Cis the instantaneous center of the wheel. v4 = re = (0.04)(10) = 0.4 m/s —~ Acceleration analysis. a = 30 rad/s? +) Point A moves on a circle of radius p=R+r=0.16+004 Since the wheel does not slip, ac = ac} 94+ (B04), + (a0), (eH =[le0, —}o[ 2 Joe TL" 1] =[(e0), —] |e : | +[(0.04)(30) —~ }+[(o.04)10)' | ] = (a), — + [08 }]+[L2 + ]+[4 1] ‘Components. (a4), +12=0 (ay), =1.2m/s? th ac 08440 a 232m? (a) Acceleration of point A a, =[12ms? —]+[08ms? |] a, = 1.442 m/s? 7 33.794PROBLEM 15.112 CONTINUED (0) Acceleration of pont B ay =a, + (+04), *(00), ay = [12 —]+[08 | ]+[ra |] +[ro* ~ ] = [12 —]+[os |] +[(0.04)(30) | ]+[(0.04)(10)° _ = [28mus? — ]+[2ms? '] ay = 3.44 m/s? 355° ¢ (©) Acceleration of point C. ae = act ac = 3.20mi" | 4PROBLEM 15.113. ‘The 360-mm-radius flywheel is rigidly attached to a 30-mm-radius shaft that can roll along parallel rails. Knowing that at the instant shown the center of the shaft has a velocity of 24 mm/s and an acceleration of 10 mmis*, both directed down to the left, determine the acceleration (@) of point 4, (b) of point B. Shaft Velocity analysis. Let point G be the center of the shaft and point C be the point of contact_with the rails. Point Cis the instantaneous center of the wheel and shaft since that point does not slip on the rails. Cc Vo = ro, Acceleration analysis. Since the shaft does not slip on the rail, ac = ac 20° Also, ag = [10 mms? 7 20°] 8 = 86 + (tec), + (tec), lac N 20°] = [10 mms? 7 20°] + [30a < 20°] + [300 N 20°] 30a @ = 0.33333 rad/s? ”) 10 Components 7” 20°: (2) Acceleration of point A ay = 86 +(auc), + (240), = [to 7 20°] + [3602 — ]+[3600? | ] = [9.3969 — ] + [3.4202 | ] + [120 —] + [2304 |] = [129.3969 — ] + [233.4202 |] a, = 267 mm/s? * 61.0° € (8) Acceleration of point B. +000), # (00), = [10 7 20°] + [3600 —~ ]+ [3600 | ] = [9.3969 — ] + [3.4202 | ] + [120 — ] + [230.41] = [110.6031 — ] + [226.9798 |] 52 mm/s? << 64.0°PROBLEM 15.114 ‘The 6-in.radius drum rolls without slipping on a belt that moves to the left with a constant velocity of 12 in/s. At an instant when the velocity and acceleration of the center D of the drum are as shown, determine the accelerations of points 4, B, and C of the drum, SOLUTION Velocity analysis. vp20ink—, vealinka—, @) Yo=vp+¥op or [12 —] = [30 —- ] + [60 —] -12=30-60, = 2=7ravs ) ‘Acceleration analysis. ay = 36 ins? —, aria.) 86 = ap + (00), + (800), lec 1]=[6— Jo foe —]+[60" 1] Components: 0=36-62 a=6rad/s? ) ac = (6)(7) = 294 in/s? ac = 24.5 fs? |< 4 =p +(e), + (au), = [36 — ] + [62 — ] + [60 | ] = [36 — ] + [36 — ] + [294 |] = [72inis? — ] + [294 ins? | ] ay = 25.2 fs? S 76.29 € 0), + (20), = [36 — ] + [60 |] +[60* —] = [36 — ]+[36 |] + [294 —] = [2s8inist — ]+[soinie |]PROBLEM 15.115 A 60-mm-radius drum is rigidly attached to a 100-mm-radius drum as shown. One of the drums rolls without sliding on the surface shown, and ‘cord is wound around the other drum. Knowing that at the instant shown end D of the cord has a velocity of 160 mm/s and an acceleration ‘of 600 mm/s?, both directed to the left, determine the accelerations of points 4, B, and C of the drums. SOLUTION Velocity analysis. Vp = V4 = 160 mm/s — Instantaneous center is at point B. ¥4=(AB)o, 160 = (100 - 60) @=4rad/s >) Acceleration analysis. ay = [ay [] fornostipping a =a) a, [600mms? —]+[(a,), 1] ag = [as —] ay =a, + (Aen), + (04), [ay 1] = [600 —]+[(a,), 1 ]+[(100- 60)a — ] +[(100 - 60)0* t ] Components +2: 0 =-600+402 a = 1Srad/s? >) ay = 46 + (ac), +(ac), [ae 1] = [ag ——] + [1002 — ]+[1000° | ] Components +: 0=-ag+100a a = 100a = 1500 mm/s” +f) aq = (100)(4)? = 1600 mms? ay = 1600 mm/s? {PROBLEM 15.115 CONTINUED a, =86 + (810), +(t00), = [1800 — ]+ [60a — ] +[600* | ] = [1500 — ] + [900 — ]+ [960 1] = [600 mms? — J+ [60 mms? ial a, = 1132 mmis? S. 58.0° a¢ = 86 +(00), + (806), = [1500 -— ]+ [1000 1] + [1000 — ] = [1500 — ]+ [1500 { ] + [1600 — ] = [5100 mms? — ] + [1500 mms? | ] ac = 3440 mm/s? Sy 25.8°PROBLEM 15.116 ‘A 60-mm-radius drum is rigidly attached to a 100-mm-radius drum as shown. One of the drums rolls without sliding on the surface shown, and cord is wound around the other drum. Knowing that at the instant shown end D of the cord has a velocity of 160 mm/s and an acceleration of 600 mm/s”, both directed to the left, determine the accelerations of ° points 4, B, and C of the drums. ‘SOLUTION Velocity analysis. Vp = Vy = 160 mm/s Instantaneous center is at point A. Vp = (AB)@, 160 = (100 - 60) Acceleration analysis. ‘Components fa, 1] = [600 —]+[(as), | ]+[(100- 60)a — ] +[(100 - 60)? '] te: 0=-600+40a a = 15 rad/s?) a, = 960 mm/s? |PROBLEM 15.116 CONTINUED s+ (tac), * (te), = [900 — ] + [1000 — ]+ [1000 { ] = [900 — ] +[1500 — ] + [1600 1] ~= [600 mms — ] + [1600 mms? | ] ay = 1709 mm/s? X. 69.4° 8¢ = 86 + (806), + (Ace), = [900 — ]+ [1000 | ]+[10007 — ] = [900 — ] + [1500 | ] + [1600 —] = [700 mens? — ]+[1500 mms? |] ac = 1655 mms? 7 65.0° 4PROBLEM 15.117 _-—Z\_» Amn 4B has a constant angular velocity of 16 rad/s counterclockwise. At pws the instant when @=0, determine the acceleration (a) of collar D, w () of the midpoint G of bar BD. 2 0 SOLUTION Geometry and velocity analysis. a=0 ¥p = (AB)oo = (60)(16) = 960 mms vy =960mms{, vp = Instantaneous center of bar BD lies at C. 120 sin = 2% =06, cos =08 f= 369°, CB = 200c0sf = 160 mm 960 9p = 2H > 76g = Orads > Acceleration analysis. ayy =0 84 = [6045 |] +[6003, — ] = 0+[(60)(16)? — ] = 15360 mms? — Point D moves on a straight line 8p = dp — (0p), = [12009 —]+ [160259 1] (208), = [1600 — ]+[12003, | ] = [3760 — ] + [4320 |] 2+(ton), + (aon), Resolve into components 0+ 160¢qp - 4320 gp = 27 rads? *) @ ap = ~15360 ~ (120)(27) ~ $760 = -24360 mmis* ap = 244m? — (2a), = [602 —]+[80ap 1] = [1620 — ]+[2160 1] (a0), = [800% — ]+[600%, | ] = [2880 —] + [2160 |] (&) ag = 9p +(aG0), + (aan), = [15360 -— ] + [1620 — ] + [2160 | ] - [2880 — ] + [2160 f ] = 19860 mms? — fig = 19.86 ms? — 4PROBLEM 15.118 ‘Arm AB has a constant angular velocity of 16 rad/s counterclockwise. At the instant when @ = 90°, determine the acceleration (a) of collar D, (6) of the midpoint G of bar BD. SOLUTION Geometry and velocity analysis. 90° 60. inp = = 0,3, 2174 sin = 3p 703 B= 17.458 Vp and vj are parallel, thus the instantaneous center les at 2 no Acceleration analysis. yy =0, yp = 16 rads, yy = 0 ay = [6004 1] + [6003p | ]= 0+ [(60)(16)° | ] = 15360.mms* | Point D moves on a straight line. py = ay — (40), = [60a — ] + [200005 Baty |] = [sou |} +[20050 on -—] = 0 (401 4p = Ay +(anp), + (48), Resolve into components. 15360 a = 80.508 radis? >) 200c0s 2 4}: 0= 15360 + 200c0s fay, aay @ 4.1 ay = 0 60etq +0 = ~(60)(80.508) = ~4831 mm/s? ay =483 ms? — 4 [30.95 -— ]+ [L00c0s feyn |] = [2415 -— ] + [7680 1] (a2), = [300% | ] + [100c0s far — ) ay + (anc), + (xc), = [15360 | ]+ [2415 — ] + [7680 |] +0 = [2415 mms? — ] +[7680 mms? | ] ag = 8.05 mis? 7 72.5° €PROBLEM 15.119 Collar D slides on a fixed horizontal rod with a constant velocity of 4 fU’s to the right. Knowing that at the instant shown x determine (a) the angular acceleration of bar BD, (b) the angular acceleration of bar AB. Geometry, Define angles 0 and # as shown. 10cos f = 16 ~ 10c0s8 0 10sin f = x +10sine 2 Squaring, adding (1) and (2), and rearranging, 20x 256+x7 cos@ — 320° 9 320 8) 20x Let tng = “ Multiply (3) by cose. cos(0 + 9) = 255+ cosy o 320 x+10sin From (1) and (2), tan = pcos © For Bin, tang=0.5 = 26.565° From (5), cos(0 +9) =cosp 8=0 ae, a = 53.13° From (6), tmp = 5G B= 53.13 Velocity analysis. Vp = 4 fils = 48 in/s —PROBLEM 15.119 CONTINUED Vp = 10049 — v= Ys + Yow [48 — ] = [10045 — ] + [10045 ay = 94 +(a24), + (8x4), = 0+ [lOayy = ]+[100%5 |] + [10249 — ]+[2304 |] a= 4 +(t02), +400), 0-=[10ayy — J+ [2304 |] + [10299 ~< A]+ [100% Af] = [10224 — ] + [2304 | ]+[10ayp ~~ A] +0 (a) +f: 0=0+230.4 + 10a_psin f, (6) AL: 0 = Weryy +(10)(-28.800)co5 9, gy = 17.28 rads? >PROBLEM 15.120 Collar D slides on a fixed horizontal rod with a constant velocity of 2 fu's to the right. Knowing that at the instant shown x = 0, determine (a) the angular acceleration of bar BD, (b) the angular acceleration of bar AB. OLUTION ¢ «| Geometry. Define angles @ and as shown. 10cos f = 16 - 10c0s0 o 10sin f = x +10sind @ ‘Squaring, adding (1) and (2), and rearranging, 20x _ 256 +x? 320-320 ® Let ay @) Multiply (3) by cose. 256 +x re (5) 208(6 + 9) = So —co8@ ©) x+10sind From (1) and (2), CYS Src © For tng =0, 9 B= 3687 Velocity analysis. Vp = 2 fs = 24in/s —PROBLEM 15.120 CONTINUED Vp = [10045 6] eo) pa [toes £6] + [100 a, =15750mms? J, ap = ap |, ap = Gap > Ap =[(DB)agp A] +[(DB) oy VA] 250ayp . A] + [4785.16 A] 4) = y+ Ap, Resolve into components. ti: 0 = 0 ~(250c08 8) agp + 1339.83, app = ~5.5826 rad/s* +|: ap = 15750 - (250sin A)(5.5826) ~ 4593.76 = 10765 mmv/s* ayy = 5.58 rad/s), ay = 10.77 mis? | 4PROBLEM 15.121 CONTINUED © = 90, vp = 1050 mm/s —, vp = vp | B= 34.08 Instantaneous center of bar BD lies ato, 5 =0 ay =15750mm/s —, ap = ap} App =[(DB)ag> 6] +[(DB)o}p VB] = 250a_p % 8 8p = Ag+ Ap, — Resolve into components. -15750 -(250c08B)agp — @pp = ~76.045 rad/s? +: ap = 0+ 0~(250)(-76.045)sin& ay = 10647 mm/s? agp = 76.0 rad/s® , ap = 10.65 mis? | 4 (© 0 = 180°, vp =1050mm/s — vp =v} 10 sinp= 2 — ga1626 B 250 a Instantaneous center of bar BD lies at point C. » 1050 = 2 = 4375 rad/s B m= BDeosp 230cosh ee a, =15750mms {ap =apt ane =[(BD)a9 4] +[(BD) oi Y 8] = [250a—p Dx A] + [4785.16 Y A] p= 85+ Ap Resolve into components. 5826 rad/s? 0 = -250app 0088 +1339.83 agp = ap = 15750 + (250)(5.5826)sin f + 4593.16 = 20734 mm/s? pp = 5.58 rad/s? ), ay = 20.7 mis? [4PROBLEM 15.122 In the planetary gear system shown the radius of gears A, B, C, and D is, ‘60 mm and the radius of the outer gear E is 180 mm. Knowing that gear has a constant angular velocity of 150 rpm clockwise and that the outer ‘gear E is stationary, determine the magnitude of the acceleration of the tooth of gear D that is in contact with (a) gear 4, (b) gear E. SOLUTION Velocity analysis. @, = 150 rpm = Sz rad/s 4, = 600, = 300% mm/s \, Point £ is the instantaneous center for planetary gear D. 0 ~ Tay 7 2S ae) ¥p = 60) = 1500 mms \, as = "2 = 1.259 rad/s > S120 Br Acceleration analysis. ye ay = 12003 / 187.52" rad/s? / D' (a) Acceleration of tooth in contact with gear A. 8) = ap + ayy = 1875? /+ 6003, / = 187.50? / +3750? /= 187.507 / 1851 mm/s? / =18sims? / 4 (b) Acceleration of tooth in contact with gear E. Jb + Ayp = 18752? /+ 600}, / a =1875a? +3750? /= 562.507 mms? / 5552 mm/s? / a, = 5.55 mis" / 4PROBLEM 15.123 Knowing that crank AB rotates about point A with a constant angular velocity of 900 rpm clockwise, determine the acceleration of the piston P when @ = 60°. SOLUTION Law of snes. SBA SRO pg - 16.119" D is y Velocity analysis. yy = 900 1pm = 30x radls Vp = 2oy = 60s nis “60° vor} Op =e) p=) m= > > Vor = 67 B Vo = Ye + Yow D> |] = [60% S 60°] + [60 > A} Components +: 0 = 60170860" ~ 6a%,p 008 6 B ye yy = SOELOSOO” _ 16.4065 radls >) Rin 6c0s 8 ; A Acceleration analysis. ayy =0 4 = 2wiy = (2)(30n) = 177653 ins p> 30° p= ap) aap = amp ) Ane = [6049 & B]+[S0%> N A] = [65 6] +[1615.04 ), A] 15 +(e) Resolve into components 0 = -17765.3c0830° + Gets, cos f + 1615.04sin 8 Gig = 2597.0 rad/s? +: ap =17765.3sin30° - (6)(2597.0)sin f + 1615.04cos 8 = 5931 ins? ap = ap ap = 494 fs? |<PROBLEM 15.124 Knowing that crank AB rotates about point 4 with a constant angular velocity of 900 rpm clockwise, determine the acceleration of the piston P when @ = 120°. SOLUTION Law of sines. S08, SOO = 16.779" > 2 6 Velocity analysis. 4g = 900 rpm = 307 rad/s > Vp = 204_ = 600 in/s 7 60° Y=) © =n Vos = 60g A B Y= Yet Yon [vo |] = [60% 7 60°] + [605 8] Components +.; 0 = ~60.7c0860° + 605 cos 8 Os == 164065 rad’s > Acceleration analysis. ayy =0 a, = wy = (2)(302) = 17765,3 in/s? S. 30° ap= apt Om= am) App = [aay << P) + [60 K A] = [6ery9 << f]+ [1615.04 K A] 8) =p +A Resolve into components. 17765.3c0830° + 644, c0s f + 1615.04c0s 8 yy = 2597.0 rad/s > +f: ap = 17765.3sin30° + (6)(2597.0)sin f - 1615.04cos 8 = 11835 in/s® ap =ap ap = 986 fis? [4PROBLEM 15.125 Knowing that atthe instant shown bar AB has a constant angular velocity of 19 rad/s clockwise, determine (a) the angular acceleration of bar BGD, sr" (6) the angular acceleration of bar DE. {re SOLUTION Velocity analysis. Oy = 19 rad/s) a Vg = (AB)@4g = (0.2)(19) = 3.8 mis s w=", v= ¥p = (CD) gp = (0.48)(19) = 9.12 mis vp _ 912 y a 2 Oe Log rads? Coe DE O38 NS 4 Acceleration analysis. ae ay =[(48)o% |] = {(o2)a97 t]=72.2ms" | [(#}40e 1]+[(OE)aie — ] = [038ep¢ |] + [218.88 mvs? — ] ap (200), = [04850 |]+[02¢02 —] (09), = [0-480%) — ]+[020%5 t] = [173.28 mit — ]+[r.2 me f] 4) =4,+(t00), +(2on), Resolve nto components. +. 218.88 = 0 + 0.2ap +173.28 (a) @pp = 228 radis? >) +]: 0.38ap_ = -72.2 + (0.48)(228) - 72.2, o pg = -92 rad/s pg = 92.0 rad/s? >PROBLEM 15.126 Knowing that at the instant shown bar DE has a constant angular velocity of 18 rad/s clockwise, determine (a) the acceleration of point B, (b) the acceleration of point G. SOLUTION Velocity anabsis: pg = 181s } Vp = (DE)epe = (0.38)(18) = 6.84 mis v= ¥> fe Ve = ¥3 Point Cis the instantaneous center of bar BD. Acceleration analysis. apg = 0 ty =[(DE)ohe — ]= [(osay(sy? — j= [123.12 — ] ay = [(4B) un — ]+[(48) 0% t = [02a 4, — }+[40.6125 ms? |] 0), = [048a9p | ] + [022% — ] a), =[0s8of —]+[o20% 1] = [>na7 ave? — ] [40125 ms? 1] 8p =45+(s00),+(aon), Resolve into componentsPROBLEM 15.126 CONTINUED +4: 0 = 40.6125 - 0.4859 + 40.6125, Gap = 169.21875 rads? her 123.12 = 2atyy + (02)(169.21875) + 97.47 @4g = ~40.69875 rad/s” @ [(0.2)(-~-#0.69875) — ] + [40.6125 ms? |] =[8:19575 mvs? — ]+[406125,m/" |], ay = 414 mis? S 78.69 4 © ag = ap + (ace) = a5 + $00 = 8+ Hap —as) = Hay +80) -[se —]-[2e28 1] 2 =[s74cams? ] — + [20306m? [ 1.9 mis? 4 19.5°PROBLEM 15.127 Knowing that at the instant shown rod AB has a constant angular velocity of 6 rad/s clockwise, determine the acceleration of point D. L_1sm fp 1ns5 SOLUTION Velocity analysis. Op = Grads} va = (ABO 4.5)(6) = 27 ins ve=%e—) YD =%— ‘The instantaneous center of bar BDE lies at 2. Then, yp = and vp = vp = 27 inds yp _27 y 220 227 23 rai 0 = Chg 73m) Acceleration analysis. ayy =0 ay = (AB)o =[(4.5)(6)" = 162 inJ/s? | ap = [(CD)aco — ]+[(CD)0e |] = Paco —1+[(0¥ 1] = [Paco —]+[8tinds? |] yp = [45a —]+[11.25ay0 [] + [1n2soip — ]+[450éo |] = [459 — ]+[11.25a40 1] 12 + Aye Resolve into components. 81-162 +11.25atgp, gy = 7.2 rad’s? >) ts Gacy = 0+(45)(72), acy = 3.6 rad/s? >) ay = [oz |] +[(4.5)(72) — ] +[(11.25)(72) 1] =[peaing? —]+[sriaw? |] ay = 872 in/s? 7 68.2 <PROBLEM 15.128 Knowing that at the instant shown rod AB has a constant angular velocity of 6 rad/s clockwise, determine (a) the angular acceleration of member BDE, (b) the acceleration of point E. be tnasin fp asin SOLUTION Velocy analysis. om = 6rads > Vp = (AB)eoyg = (4.8)(6) = 27 inds Ye bs VD =%— ‘The instantaneous center of bar BDE lies at oo Then, © =0 and vy = vp Acceleration analysis. ayy =0 ay = (AB)oig = [(4.5)(6) | ]= 162 ins? | ap = [(CD) acy — ]+[(CD)aeo | |= [92co —]+[(9)(3) |] = [Paco — J+ [st ins? | ] App = [4.Stgp —] + [11.25c¢5p f ] + [1125035 —]+[450%5 |] = [45ay9 —]+ [1.25050 t] 1) = Ap +Apy Resolve into components. +t Spe = [a — ]+[22.5a0 |] + [22.50% — ]+[9e%o | ] =[0)(72) —]+[22.5)(72) 1} +0 —]+[0 |] = [sasinis? — ] +[10 ins 1] ~81 = 162 + 11.25ayp, yp = 7.20 rad/s? >) vexing? |] +[oasinis? —]-+[100inis 1] = 64.8 in/s? — ay = 648 inds? —PROBLEM 15.129 At the instant shown the angular velocity of bar DE is 4 rad/s clockwise in ‘and its angular acceleration is 10 rad/s? counterclockwise. Determine —==afh (2) the angular acceleration of bar BGD,(b) the acceleration of point G. SOLUTION Velocity analysis. Op, = 4 rad/s ¥p = (DE) pe = (220)(4) = 880 mm/s eet ea Instantaneous center of bar BD lies at point B. vp vp _ 880 = 20 = 88. grads} w= Bp ~ 220 ; omy = "B= 0 Acceleration analysis. pg = 10 rad/s“, ajy = 16(rad/s)? 4 =[(DE)ane | ]+[(08)obe — J = [(220)(10) |] +[(220)(16) — ] = [2200 mvs? | + [3520 mms? — ] av =[(08)ax0 |] +[(08)ein |] = [220250 |] + [(220)(4? ~] = [220c40 |] +[3520 mms? — ] ay = [(AB)ayy 45°] +[(AB) op 7 45°] = [22004p 45°] +0 85 = 85+ 8p Resolve into components.PROBLEM 15.129 CONTINUED “AL: -22000845%aryp = 3520 +3520, typ = ~45.255 rads? > +}: (220sin45°)(~45.255) = -2200 ~ 2202450 @ Giyp = 22.0 radls? *) 4 top =[(P8)aa0 |} +[(09)e% — ] = [(110)(22) |] +[(110)(4)' —] = [2420 mms? |] + [1760 mms? — ] ©) ag A+ Aap ~[4620.mmi* |] + [5280 mms? — ] = 7016 mm/s? “ 41.2° ag = 7.02 mis? % 41.294PROBLEM 15.130 At the instant shown rod AB has a constant angular velocity of 8 rad/s clockwise. Knowing that / = 12 in., determine the acceleration of the midpoint C of member BD. Velocity analysis. yy =8radls } Vp = (AB)o>4y = (12)(8) = 96 ins we =%—) Y= %— Instantaneous center of bar BD lies at <0. Oy =0, Vp = Vp = 96 ins — eae ee y ne = 7B: = 1 = Brads Acceleration analysis. yy =0, Wig = 64(radl/s)” [(48)a4y _ J+ [(48)o% |] = 0+[(12)(64) | ] = 768 ins? | aye = [ay t]+ [laa —]+[2oio —]+ [lois t ] = [24etnn 1] + [12409 — ] +0 = [24eap 1] + [12400 — J Ap = [(DE)ape — ]+[(DE) ope 1] = [2aye — ] + [(12)(64) 1] = [2g — ]+ [768 rad |] p=, +p ~ Resolve into components. +f: 768 = -768 + 24agy gy) = 64 rad/s? son = 400 = [200 1] +604 —] = [768 ins? |] + [4 inis? — ] Ac = ay + a9 ~[768 | ] + [768 f ] + [384 — ] ac = 384 in/s? —PROBLEM 15.131 Knowing that at the instant shown bar 4B has a constant angular velocity of 4 rads clockwise, determine the angular acceleration (a) of bar BD, (b) of bar DE. SOLUTION _ 60 z | 120 _ op? 9726565, DE = = 134.164 mm Velocity analysis. 04g = 4 rads} vp = (AB) 4p = (200)(4) = 800 mm/s — Ya =p) Y=" 8 Point C is the instantaneous center of bar BD. BD _ 160 So cp = 2 = 357.7 mm cos A vg, 800 a8 5 mp = FE = 599 = 2S tas) ¥p = (CD) egy = (357.77)(2.8) = 894.425 mms vp _ 894.425 y = 2a = SOAS 6.6667 rad 08 = DE” 134.164 nf Acceleration analysis, Gy, =0, Oy = 4radls > 4% =[(48) au — ]+[(48)o% t] = 0+ [(200)(4)? |] = 3200 mus? fPROBLEM 15.131 CONTINUED ape = [(D)aw t]+[(BD)o%> — ] = [60a — ]+{(160)(2.5)' |] = [160155 | ] + [1000 mms? — ] Ap = [(DE) ane SA]+[(DE) ob. V A] = [134.1642 S 6] + [5961.5 YA] p=, +8, Resolve into components. Aa: 134.164arp, c0s f + 5961.5sin B = 0 - 1000 pg = ~30.55 rad/s? +f: -(134.164)(-30.55)sin f + 5961.5c0s = 3200 + 160ap5 (@) pp = 24.8 rad/s? >) 4 > ® pg = 30.6 rad/s? 4PROBLEM 15.132 f—sa—f-t3m-4 Knowing that atthe instant shown bar AB has a constant angular velocity of 4 rad/s clockwise, determine the angular acceleration (a) of bar BD, sh, @)ofbar DE. ie $i SOLUTION 3.0777 in. AC 8 . SE feet E ~ ; vg = (AB)eogy = (12.5)(4) = 50 ins % Ve=%p—) Yo = AB Point Cis the instantaneous center of bar BD. BD _ 5 po=- 22 - 3-251, tan ~ tn cp = 2 = 13.4629 in. cos B 4rad/s ) ¥p = (CD)oogp = (13-4629)(4) = 53.851 in/s vp _ 53851 = 2 = BS) _ 6.6667 rad/s >) v= DE 8077 a Acceleration analysis. ayy 0, ag = 4 rad/s } ap = [(48)aa0 1] +[(48)o%n —] = 0+[(12.)(4)? — ] = 200 nis? —PROBLEM 15.132 CONTINUED yp = [Baap — ]+[(8D) oo 1] = [Sam —]+[(9(4¥ t] = [Sas — ] + [80 inJs? f ] ap =[(DE) aoe A 6]+[(DE)abe S 4] =[80777ap_ 4 A] +[(6.0777)(6.6667)° ) ® pg = 2A rads? )PROBLEM 15.133 Solve the problem indicated making full use of the vector approach as fi r inca [LY + SOLUTION Relative position vectors. Tyg = ~(200 mm)j, Fp = (160 mm)i Typ = ~(60 mm)i - (120 mm)j Velocity analysis. oq = -(4radis)k Va = @ 4a tng = (Ak) x (~200)) = ~(800 mmvs)i Von = ©np * Foye = Oaok x 160% = 1600505 Vp = Ope + Kye = @pgk x (604 ~ 120j) = 1200p eh ~ 6005 Y= Va+¥ou Resolve into components, i: 1200 = -800+0 apg = ~6.6667 rads F: G00 p— = 16005 +0 yy = 2.5 rad’s Acceleration analysis. ayy = 0, yy =~(4 1005) k ~ (4) (-200}) = (3200 mms?) j Ay = Gap * Fag ~ Orang = Aye = Gap * Fon ~ OhpFan = pok x (1601) ~ (2. = 160c¢qp§ ~ (1000 mnvs*)i Mp = Gye X Frye ~ Oe ye = @pek x (604 - 120}) - (6.6667)" (601 - 120)) = 120 gh ~ 60a + (2666.7 mas?) + (5333.3 mms") j y= +A, Resolve into components. i: 120ap_ + 2666.7 =0-1000 apg = -30.556 rad/s? f: —OOape + 5333.3 = 160c— +3200 apy = 24.792 rad/s? (a) agp = 24.8 radis? ) () pg = 30.6 rad/s?PROBLEM 15.134 poses a ete making full use of the vector approach as Prob. 15.132. SOLUTION Relative position vectors. Fyq = (I25in)i, typ = -(5in.)j typ = -(75inds)i + (3 in)j Velocity analysis. 4p = ~(4 rad/s) k Vp = © gy Fg = (AK) «12.51 = -(50 ins) j Yaw = a9 * Fong = Onok x (53) = Sedgok Vp = pe * Frye = @pgk X (~7.51 + 3}) = Bayh ~ 7500p _5 Vp = Vg +Vpy Resolve into components. ie pg, = 6.6667 radis i: Bopp = 0450p gy = ~A rad/s Acceleration analysis. ~(4 radis)k = Ghyp ¥ Fqyq — Orptpig = 0 — (4) (12.51) = -200 ins? i Aap = @a * Fon ~ @avFan = aaok x(-Si)~ (4) (-58) = Sagi + (80 ini?) = Gye X Fg — Opts = @pgk x (7.51 + 39) — (6.6667) (-7.5i + 3) “Bagi ~7Spgd + (333.38 in?) (133.333 ins?) 8) = 5+ py Resolve into components. J: -7Sape —133.333 = 0480 — atyy = ~28.444 rad/s? i: -3apye + 333.33 = -200 + Say) gy) = 123.733 rad/s* (a) gp = 123.7 radis® ) 6) pp = 28.4 rad/s? )PROBLEM 15.135 Denoting by 1, the position vector of point A of a rigid slab that is in plane motion, show that (a) the position vector ¥ of the instantaneous center of rotation is Oxv4 co Foamy t > where @ is the angular velocity of the slab and v, is the velocity of point 4, (b) The acceleration of the instantaneous center of rotation is zero if, and onl @ a,=Fvytoxv, o where a = ak is the angular acceleration of the slab. SOLUTION (@) Atthe instantaneous center C, 6) Set ae = 0. vo=0 We Vet Oty = OX tye 0x, = 0x(0xt4¢) =-0'R4¢ 1, = OM rou = oy oxy, roars hte ay ee Hak Eye +0 V4 = ap ~ ak x 2°04 + @x (vy ~ ve) ~ BOkx (Kev) +0x¥4 @ ct Evy toxvy a a,=Sv,+oxv,4 oPROBLEM 15.136 Collar D slides on a fixed vertical rod. The disk rotates with @ constant clockwise angular velocity @. Using the method of Sec. 15.9, derive an expression for the velocity of point D in terms of 8, @, 6, and I. SOLUTION From horizontal distances, Ising = b(1 + sind) 1c0se@ = 60800 b 00s g Teosg From vertical distances, 1) = leosy - bcos? 3 = -lsingg + bsin6d a Now, From geometry, b(1+ sind) P-6(1+ sina)? qT (1+ sind)cosO Substituting into (1), ¥p = bar} sind ~ 5 [r ~ (1+ sina)']PROBLEM 15.137 Collar D slides on a fixed vertical rod. The disk rotates with a constant clockwise angular velocity @. Using the method of Sec. 15.9, derive an expression for the angular acceleration of rod BD in terms of 8, @ b, and /. SOLUTION From horizontal distances, sing = (1 + sin@) Set _ bal cosdsing TL costo cose _ bal cosBsing ba cos® _sinbw TL cos 1 cosp cosp _ ba*| beos*Bsing _ sind T | Teor p cosp ® Now, = 00 } no From geometry, sing = 3(1+ sind) 12 cose = [= sin?” =r +sino)'] ‘Substituting into (1), ip = Bz) _beos?06(1 + sind)! sind rp = aE ar 1 [pee qesingy [2-804 singy'] bcos? (1 + sind) bsind b« ——— - pap [P-# 0+ sino) [P-2(+singy'|PROBLEM 15.138 The drive disk of the Scotch crosshead mechanism shown has an angular velocity @ and an angular acceleration a, both directed counterclockwise. Using the method of Sec. 15.9, derive expressions for the velocity and acceleration of point B. SOLUTION From geometry, xp = bsind +1 ty = beos00 iy = boos 80 — bsin 86 But, 6-0, G-a Hence,PROBLEM 15.139 ., Rod AB moves over a small wheel at C while end A moves to the right * with a constant velocity v,. Using the method of Sec. 15.9, derive ‘expressions for the angular velocity and angular acceleration of the rod. SOLUTION € b a 4 A %n °PROBLEM 15.140 _, Rod AB moves over a small wheel at C while end A moves to the right with a constant velocity v,. Using the method of Sec. 15.9, derive ‘expressions for the horizontal and vertical components of the velocity of point B. SOLUTION B 1 ree Ye ib A 2 ° be Xq_ ——te xe Wig (+x) u But,PROBLEM 15.141 A disk of radius r rolls to the right with a constant velocity v. Denoting bby P the point of the rim in contact with the ground at t= 0, derive expressions for the horizontal and vertical components of the velocity of P at any time t SOLUTION y 4278, y= Xp =x4-rsind = 8 -rsind re Ye = ¥4~re0s8 =r-reos8PROBLEM 15.142 At the instant shown, rod AB rotates with a constant angular velocity @ and an angular acceleration a, both clockwise. Using the method of See. 15.9, derive expressions for the velocity and acceleration of point C. SOLUTION 1p Place the origin at the fixed point 4 Xe = eos ’ ye =O fc = -2sino6 5e=0 ig = -21sin 66 - 21 cos 06” Ye = 2lasind — 4 (asind + a cos8) (ac), = ¥e (ac), (4c), = Fe (ac), ac = -2(asind + w*cosd) —PROBLEM 15.143 ‘At the instant shown, rod AB rotates with a constant angular velocity @ “ ‘and an angular acceleration a, both clockwise. Using the method of Sec. 15.9, derive expressions for the horizontal and vertical components of the velocity and acceleration of point D. Place the origin at the fixed point 4 Xp = MeosO A Yo = tsin® ip = -Ssinad ip = 10866 ip = ~31sind6 - M.cos0o" Icos@6 — Isin66* 6=0, b=a (%), = 40 (0), = Slersin (%), = 30 (v0), = lweose ¥p = -(3leosind)i + (lercos0)j (asin + 0° cos8) (4), = #0 (40), = (asor0 ~ 0° sind) (a), = 50 (a0), Stasind + a cos8)i + (lacos@ - ta? sind) ay =PROBLEM 15.144 Crank AB rotates with @ constant clockwise angular velocity @. Using the method of Sec. 15.9, derive expressions for the angular velocity of p rod BD and the velocity of the point on the rod coinciding with point E in terms of 8, @ b, and. Law of cosines for triangle ABE. =? +B? ~ 2bicos(180° ~ 8) + BF + 2b cos a 1+ beos8 cosy = Lt P08 u __bsind T+ beosO 4 (tang) = sec! pp = (1+ be0s6)(bc0s8)4 + (bsin8)(be0s8)6 a (1+ beosa)? tang (c0s* p)[ bcos + 6*(cos? 6 + sina) |d (1+ bc080)" eos +8? 5 __b(b+1c080) OW FF + Db le0s8 But, G=0 — @= Oy «and Vp = 8 B(b+1c0s8) Hence, peel leon) m0 = 5 5 Dbleosd” * 4 Differentiate the expression for u°, Quit = -2bIsin 6 bisind P48 + 2bic0s8 bising -if_bsind aor ww tant Pind — +b +2blcosd = G jae)PROBLEM 15.145 Crank AB rotates with a constant clockwise angular velocity @. Using the method of Sec. 15.9, derive an expression for the angular acceleration p of rod BD in terms of 8, o, 6, and SOLUTION 7 Law of cosines for triangle ABE. a2 =P +b? ~ 21e0s(180° - 0) +B + 2ble0s8 2 1+ beosd coup = Lt beose bsind P= Ty e080 4 (ang) = sc pp = U4 Bes0)(be080) + (sind) be080)0 a (+6050) (cos? 9) bicos@ + b*(cos*@ + sin?) 6 o= 7 (1+ bc0s0) _ blcosd +b? 4(b + cos) e P +P + thleosd b(b+ 10080) P+ 6 + 2bleosO ? + 6 + 2bLe0s0)(—bisind) ~ (4 + 16050)( 261: (P° +8? + 2bic0s0)" b(b-+eoso) y__Wi(!P-b")sind P+ E+ 21c050° (12 + 6? + 2hlcosd) But, O=0, b=0=0, G=ay bi(P -0?)sind {0 TF a dbienb” ? P +B + 2blcosd|PROBLEM 15.146 A wheel of radius r rolls without slipping along the inside of a fixed cylinder of radius R with a constant angular velocity @. Denoting by P the point of the wheel in contact with the cylinder at 1 = 0, derive expressions for the horizontal and vertical components of the velocity of Pat any time ¢. (The curve described by point P is a hypocycloid.) SOLUTION . Define angles @ and @ as shown. 4 6-0, O=a1 ie Since the wheel rolls without slipping, the are OC is equal to are PC. / 1(9 +0) = Ro ° ? ° xp =(R-r)sing -rsind (vp), = ip = (R= r)eosp@ - reos6 yp = R-(R~r)eosg~ reosd (%), = 5p = (R—r)singp + rsindé . R= n(sin ret i i ) + rine Ror )\R=rPROBLEM 15.147 In Prob. 15.146, show that the path of P is a vertical straight line when r=R/2. Derive expressions for the corresponding velocity and acceleration of P at any time f. SOLUTION ri Define angles and g as shown. =a, O= at, 0 Since the wheel rolls without slipping, the are OC is equal to are PC. 1(9 +) = RO = 20 o-0 P fe x © xp = (R-r)sing - sind = rsind - rsind = 0 ‘The path is the y-axis. Yp = R-(R~r)cosg ~ rcos0 = R- ros - reosd = R(1~ cos) Sp = Reino v= (Rosine) < [Reos 66" ~ sin66) = Re” cos a= (Ro coswr)j <PROBLEM 15.148 p Pin P is attached to the wheel shown and slides in a slot cut in bar BD. 5 The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that x = 480 mm when @ = 0, determine the angular velocity of the bar and the relative velocity of pin P with respect to the rod for the given data. (a) 0 =0, (6) 8 = 90°. SOLUTION Coordinates. a= (tay +18 Yaar Xp =0.9e Fe = Xa Ye =O xp = x4 + esind yp = + 0088 Data: (x,)) = 480 mm = 0.48 m = 200mm = 0.20m ¢= 140 mm = 0.14m Velocity analysis. @4c = 4c) pp = Mp0 ) vp =¥ 4+ ¥en = [rose — ]+ [eae S 4] Ve = [Seno |] +[(e0080)e%59 — ] pp = [ucosB —] +[usinf f] Use vp = vp + Vp and resolve into components. (r+ €c056)«4c = (ec0s)ogp + (cos B)u w +f: (esind)ayc = xpOyp ——-(sin Bu @PROBLEM 15.148 CONTINUED (@ @=0. x, =048m, xp = 048m, Oye = 20 rads tang = $2088 B= 16.26 Substituting into Eqs. (1) and (2), (0.20 + 0.14)(20) = 0.140, + (c0816.26°)u a 0 = 0.4809 ~ (sin16.26°)u @ Solving simultaneously, gp = 3.81 rad/s, pp = 3.8lrad/s) u = 6.53 mis, Yop = 6.53 mis 16.269 ©) 0 = 90°. Ps = 048 +(020(4) +014 = os3416m B=0 Substituting into Eqs. (1) and (2), (0.20)(20) = w o u=4mis (0.14)(20) = 0.934160 e Opp = 2.9973 rad/s, @pp = 3.00 rad/s) Vane = 4.00m/s —~PROBLEM 15.149 [ 1p Pin P is attached to the wheel shown and slides in a slot cut in bar BD. 4 ‘The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that x = 480 mm when 8 = 0, determine the angular velocity of the bar and the relative velocity of pin P with respect to the rod for the given data. 8 = 30°, SOLUTION Coordinates. x4 =(X4)y +7894 Xp =O ¥5 = Xe = Xp Vo =O Xp =x, +esind yp =r + ec0s8 Data: (x4), = 480 mm = 048m Velocity analysis. @4c = Oe Vp = V4 + ¥p4 1050 |] + [(€0050)en9 — ] Vor = [cos 8] —~ +[usinf f) Use vp = Vp + ¥pjp and resolve into components. a 2PROBLEM 15.149 CONTINUED 0=30, xp = 048+(0 202) + 0.14sin30° = 0.65472 m 0.14¢0830° 5 tang = (B= 10491 Substituting into Eqs. (1) and (2) (0.20 + 0.14c0830°)(20) = (0.14c0830°) ogy + (cos10.491°)u w (0.14sin30°)(20) = 0.65472 app ~ (sin10.491°)u ® Solving simultaneously, gp = 3.82 rad/s) 6.06 ms Vp = 6.06 mis 2 10.49°PROBLEM 15.150 ‘Two rotating rods are connected by a slider block P. The velocity vp of the slider block relative to the rod on which it slides has a constant velocity of 30 in/s and is directed outward. Determine the angular velocity of each rod forthe position shown. SOLUTION B= 50° ~ 20° = 30° Be 20) BP AP ‘sin sin30°~ sin20°~ sin130° BP =13.6808in., AP = 30.642 in. Vp = (AP oun 7 20° vp = (BP) 0p) * 50° Vp = Wy NY 50° Vp =Vp +Vpp- Resolve into components. ti: (AP)wgpcos20° = (BP)ar,p c0850° + vy sin 50° +: (AP)eypsin20° = (BP) agp sin 50° — vy c0s50° Rearranging, (30.642c0s 20°) p ~ (13.6808c0s50°)@yp = 30sinS0® (1) (30.642sin 20°)» ~(13.6808sin50°) pp) = ~30c0sS0° (2) Solving Eqs. (1) and (2), Op = 19581 adls, gp = 3.7981 rad’s @4p = 1.958 rad/s) 4 @pp = 3.80 rad/s >) 4 Note that instead of resolving into components, the triangle of vectors Vp, Vpsand Vp can be constructed. Then, Ve = 30inis, Vp ee ee (4P) © 30.682 vp _ 51,962 80 rad/s no = (pp) ~ 13.6808PROBLEM 15.154 Two rotating rods are connected by a slider block P. The velocity vp of the slider block relative to the rod on which it slides has @ constant velocity of 30 inJ/s and is directed outward. Determine the angular ‘velocity of each rod for the position shown. SOLUTION B = 50° ~ 20° = 30° P AB __20___—BP AP sinf sin30° sin20° sin130® BP = 13.6808 in, AP = 30.642 in. Vp = (BP) yp 7 50° Vp = (AP ebay 7 20° Vow = % 20° Vp = Vp +¥pp. Resolve into components. +: (BP)apcos50° = (AP)a4,.c0820° + vp sin20° A +[: (BP) oppsinS0° = (AP) ep sin20° - y5c0520° Rearranging, _(13.6808c0850°) app ~ 30.642c0s 20°04 = 30sin20° (13.6808sin 50°) agp - 30.642sin 20°, = -30cos 20° Solving Eqs. (1) and (2), ©gp = 43857 radls, yg = -1.6958 rad/s oe = 1.696 rad's ) 4 yp = 439 rads) 4 [Note that instead of resolving into components, the triangle of vectors py Vp» and Vp can be constructed. Then, 30 Yop =30inds, yp =O = 51.962 ne, 30 _ 64 =O = 60 ins Yes Gag ins vp _ 51.962 yap = PE = 51982 _ 1 696 rad 48 ~ TAP) ~ 30.642 * ve __ 60 om = ey * Tagena 7 MPPROBLEM 15.152 in P is attached to the collar shown; the motion of the pin is guided by a slot cut in rod BD and by the collar that slides on rod AE. Knowing that at the instant considered the rods rotate clockwise with constant angular velocities, determine for the given data the velocity of pin P. Oye = 8 radls, Opp = 3 rad/s SOLUTION 0s ‘c0s30° AB = 500mm = .5tan30°, BP = Sm, AP = Oy, = 812d), sp = 3ads ) Let P’ be the coinciding point on AE and 1 be the outward velocity of the collar along the rod AE. vp = Vp + Vor =[(4P oar |] + [4 —] Let P” be the coinciding point on BD and 1, be the outward speed along the slot in rod BD. Vp = Ye + Veep = [(BP)@ap X 30°] + [4p < 60°) quate the two expressions for vp and resolve into components. Ae ( = 20909) + nyconse 30530" or 4 15 + 054, o (0. )°} -| }sin 30° + u, sit (0.5tan30°)(8) (25: +p sin60? uy = fis tan 30° - 41an30°] ano From (1), 14 = 15 + (0.5)(-1.66667) = 0.66667 mis vp = [(0.5tan30°)(8) | ] + [0.66667 —] = [2.3094 mvs | ] + [0.66667 mis —-} vp = -V2.3094? + 0.66667" = 2.4037 m/s Bs = 2.40 mis % 73.99PROBLEM 15.153 Pin P is attached to the collar shown; the motion of the pin is guided by a slot cut in tod BD and by the collar that slides on rod AE. Knowing that at the instant considered the rods rotate clockwise with constant angular velocities, determine forthe given data the velocity of pin P. Oye = 7 tadls, Opp = 4.8 rad/s SOLUTION 0s 0830" tye =Trds), yp = 48 rad's ) Let P’ be the coinciding point on AE and 1, be the outward velocity of the collar along the rod AE. Ve = Ve + ¥nae =[(AP Jue }]+[4 — ] Let P” be the coinciding point on BD and 1, be the outward speed along the slot in rod BD. AB = 500mm = 0.5 m, AP = 0.5tan30°, BP = Ve =e + Ven = [(BP)o ny 30°] + [uy 2 60°] Equate the two expressions for v,, and resolve into components. : os : hs = (PE )(4sy coat + none or uy, = 2440.5 a 05 +f: -(05tan30")(7) = ta 48) 30° + u, sin 60" 1 sin60* From (1), m= 24+ (0.5)(-0.73333) [24 tan30° ~ 3.Stan30°] = -0.73333 ms 2.0333 mis, vp = [(0-stan30°)(7) | ] + [2.0333 — 2.0207 mvs | ] + [2.0333 mvs — ] vp = (2.0333) + (2.0207)° = 2.87 mis 2.0207 = 99333" B= 448° Vp = 287 mis % 44.894PROBLEM 15.154 [-—»=—4 Knowing that at the instant shown the angular velocity of bar 4B is 15 rad/s clockwise and the angular velocity of bar EF is 10 rad/s T clockwise, determine (a) the angular velocity of rod DE, () the relative 1%. velocity of collar B with respect to rod DE. SOLUTION ge =1rad’s ), ve = [reper — ] = (15)(10) = 150;in/s — Vo = Ve + Vag =[150in/s — ]+ [2005 | ] Ver = — Ve = Vp + Vnen =|[150 in/s — ]+ [20096 | ]+[u — } [(40) ou 48°] = (3s) 1s) 4s] = [225 inds |] + [225in/s — ] Equate the two expressions for v»_ and resolve into components. A: 1804+u= 225, w= 75in/s 1.25 rad/s 20ep—¢ = 225, Ope (@) Ope = 11.25 rad/s >) © Vane = 750in/s —~ €PROBLEM 15.155 Knowing that at the instant shown the angular velocity of rod DE is 10 rad/s clockwise and the angular velocity of bar EF is 15 rad/s counterclockwise, determine(a) the angular velocity of bar AB, (b) the relative velocity of collar B with respect to rod DE. SOLUTION Op = \Sradls [revooe — ]=(15)(18) = 225 inss — Vpr = Ve + Ven = [225 inJs — ] + [2005 | ] = [225 in/s — ] + [200 inss | ] is \]+[u—] 0" 1S, 0 a= [AB 0 > 459] [gg 45 ] Vp = Ye + Vnen = [225 inls —]+[2 150249 1] + [1504 —] Equate the two expressions for vp and resolve into components. A 225 +0 =-150045 w |: 200 = 1545 yy = Fg = 13.333 ad's @ 4g = 13.33 rad/s) From (1), u = 225 ~ (15)(13.333) = 25 ins © Yuen = 25.0 in/s —PROBLEM 15.156 Four pins slide in four separate slots cut in a circular plate as shown. ‘When the plate is at rest, each pin has a velocity directed as shown and of the same constant magnitude u. If each pin maintains the same velocity relative to the plate when the plate rotates about O with a constant counterclockwise angular velocity «, determine the acceleration of each pin, SOLUTION For each pin: Bp =p + App +a, Acceleration of the coinciding point P’ of the plate. For each pin, a» = ra” towards the center O. Acceleration of the pin relative to the plate. For pins R, Py, and Py, For pin R, app Coriolis acceleration a,. For each pin a, = 2aw with a, in a direction obtained by rotating u through 90° in the sense of @, i.e. >. Then, =[ro? — ]+[20 |] a = rat 200) 4 =[ro® |] +[20u —] ay = oni ~ raj aoe —]+[£ =] =] (ro? «6 e2on} a, = [ro | ]+[ou ft] a, = (ra* + 20u)j 4PROBLEM 15.157 Solve Prob. 15.156, assuming that the plate rotates about O with a constant clockwise angular velocity «. SOLUTION For each pin: Ap = Ap + App +a, Acceleration of the coinciding point P’ of the plate. For each pin a» = rao” towards the center O. Acceleration of the pin relative tothe plate. For pins R, Ps, and P,, For pin F, Coriolis acceleration a. For each pin a, = 2au with a, in a direction obtained by rotating u through 90° in the sense of Then, a, = [ro? — ] + [pou f] a, = roi - 2ouj a, =[ro? | ]+[2ou —] oni - ro?j 4 sow —]o[£—] +100] n-(2om-rat th a. =[ro? t] + Pou |] a ‘a? - 2au)jPROBLEM 15.158 Pin P is attached to the collar shown; the motion of the pin is guided by a slot cut in bar BD and by the collar that slides on rod AE. Rod AE rotates with a constant angular velocity of 5 rad/s clockwise and the distance from A to P increases at a constant rate of 2 mvs. Determine at the instant shown (a) the angular acceleration of bar BD, (6) the relative acceleration of pin P with respect to bar BD. SOLUTION AP = 400mm =0.4m, BP = 400/2 mm = 0.4y2 m Given: dogg = Stadls ), Oye =0, Verge = 2m f, aps = 0. Find: Ce Velocity of coinciding point P’ on rod AE. vp =(AP)oze =(04)(5)=2ms—- or (2ms)i Velocity of P relative to rod AB. Voue = (2m)j Velocity of point P. Vp = Vp + Vere = (2ms)i + (2m)j Velocity of coinciding point P* on rod BD. Vp = (BP) angy “45° = 0420p Se 45° = O40 gp5 + 0.40 905 Velocity of P relative to rod BD. Vay = (00845°)ui + (sin 45°) uj Velocity of point P. vp = Vp + Voie Vp = ~OAddgph + 0Adgpj + (cos45*)ui + (sin 45°) uj Equating the two expressions for vp and resolving into components. 2 = ~04oogp + (c0845*) a it 2=O4ogp + (sin45*)u ® Solving (1) and (2), x u=SV2 m/s, Yppp = (2 mis)i + (2 ms)j Acceleration of coinciding point P’ on rod AE. ap = (AP) agi -(AP)eo3ej = 0 -(0.4)(5)° j = -(10 mis?) §PROBLEM 15.158 CONTINUED Acceleration of P relative to rod AE. Spe Coriolis acceleration. ge * Vp = (2)(-5K) x24 = (20:5?)i Acceleration of point P. p= ap + apes + 20 ge * nae = (20-0%)h-—(10 42) Acceleration of coinciding point P" on rod BD. Mp = Gok * Trg ~ Onl = -OAcipph + O.4agpj + 0 Acceleration of P relative to rod BD. yap = (c0845°)a4 + (sind5*)a,4 Coriolis acceleration. egy * Vergy = 0 Acceleration of point P. Apap + Ayae + 2050 * Vrap = -Odagph + Odaigoj + (60845°)aA + (sin45°)a,j Equating the two expressions for ap and resolving into components. i: 20 = -Oagy + (c0s45°)a, @) J: 10 = Oaigp + (sin45°)a, @ Solving (3) and (4), Qgp = -37.5 rad/s", a, = SV2 mi/s® @ yp = 375 rads? ) 4 @) ppp = 7.07 mis? a 45° 4PROBLEM 15.159 Pin P is attached to the collar shown; the motion of the pin is guided by a slot cut in bar BD and by the collar that slides on rod AE. Bar BD rotates with a constant angular velocity of 5 rad/s counterclockwise and the distance from B to P decreases at a constant rate of 3.5 m/s. Determine at the instant shown (a) the angular acceleration of rod AE, (b) the relative acceleration of pin P with respect to rod AE. SOLUTION AP = 400mm =0.4m, — BP = 400/2 mm = 0.4y2 m Given: gp = Sradis}, agp = 0, Vpgp = 3.5 m's 7 45, Ayan Find: fpf fed) ae Velocity of coinciding point P’ on rod AE. Vp = (AP)Ooge = 0404p — = Ogi Velocity of P relative to rod AE. Vou = ah Velocity of point P. Vp = Vp + Vpge = OMe gh + Velocity of coinciding point P* on rod BD. Vp = (BP)ogy “> 45 4V2)(5) Ss. 45° = ~(2.mis)i + (2 mvs)j Velocity of P relative to rod BD. Vpap = ~(1.75V2 mis)i - (1.752 mis)j Velocity of point P. Vp = Vpr + Vpypp = (447487 mnis)i + (0.47487 m/s) Equating the two expressions for vp and resolving into components. ~0.4@ yg = 447487 yp = 11.1872 rad/s >) 0.47487 Vpyap = 0.47487 mis | Acceleration of coinciding point P’ on rod AE. Bp = gph * Tyg ~ Ogg = —O.4a gpk — (0.4)(11.1872)°j = -.dar pi — 50.061)PROBLEM 15.159 CONTINUED Acceleration of P relative to rod AE. Brae = ari Coriolis acceleration. De gpk * Voyas = (2)(11.1872)(0.47487) = (10.6249 mvs)i Acceleration of point P. Bp = Ap + pgp + Wye * Verge ap = Oath + a,j + 1062495 — 50.061) Acceleration of coinciding point P* on rod BD. Ape = tank X tpg ~ ORpt yy = 0 - (5) (0-44 + 0.4j) = ~(10 mis?)i - (10 mis?) 5 Acceleration of P relative to rod BD. ayso = Coriolis acceleration. 2eogpnan = (2)(5)(38) = 35 SF 45° = (35c0845° m/s*)i — (35sin45° m/s*) j Acceleration of point P. tr + Apias + 2M p¥ rep Ap = 104 - 10} + 35c0s45% - 35sin45°j = (14.7487 m/s”)i - (34.749 mvs?) Equating the two expressions a and resolving into components. = 0.4atgp + 10.6249 = 14.7487 yp = -10.31 rad/s? ka, ~ 50.061 5312 m/s 34.749 (@) Gp = 10.31 rad/s? ) ® pyr = 1531 mis? |<PROBLEM 15.160 At the instant shown the length of the boom AB is being decreased at the constant rate of 0.6 f/s and the boom is being lowered at the constant rate of 0.08 rad/s. Determine (a) the velocity of point B, (b) the acceleration of point B. SOLUTION Velocity of coinciding point B' on boom. Vp = ro = (18)(0.08) = 1.44 fs S 60° Velocity of point B relative tothe boom. Vroom = 0.6 fs 7 30° (2) Velocity of point B. Vp = Ve + Vatoon ti: (vp), =14400860° - 0.6¢0830° 120038 fs (vp), = 1-44sin 60° ~ 0.6sin30° = ~1.54708 fs vg = ¥0.20038" + 1.54708 = 1.560 fs 1.54708 0.20038" B= 826° 560 fs 82.6° 4 Acceleration of coinciding point on boom. 8)(0.08)° = 0.1152 tvs? 7 30° Acceleration of B relative to the boom. Aptoom = 0 Coriolis acceleration. 2a = (2)(0.08)(0.6) = 0.096 fus* “> 60° (6) Acceleration of point B. Bp = 9p + Aptoon + 20K +: (ag), = -0.1152c0s30° + 0 ~ 0.096c0s60° = ~0.14777 fu's* (ay), = -0.1152sin30° + 0 + 0.096sin60° = 0.025538 fs? as ‘777° + (0.025538)" = 0.1500 fs? iy = 0.1500 fs? S 9.8°PROBLEM 15.161 At the instant shown the length of the boom AB is being increased at the constant rate of 0.6 f/s and the boom is being lowered at the constant rate of 0.08 rad/s. Determine (a) the velocity of point B, (6) the acceleration of point B. SOLUTION Velocity of coinciding point B' on boom. Vp = ro = (18)(0.08) = 1.44 fs ~< 60° Velocity of point B relative to the boom. Vian = 0.6 fU8 7 30° (a) Velocity of point B. Vp = Ve +¥n AL: (vp), = 1et4eos60° + 0,6c0830° = 1.23962 fs 41 (vp), = 1-44sin60° + 0.63in30° = -0.94708 Aus 3)? = 1.560 fs Vp = 1.560 fs S 374° 4 Acceleration of coinciding point B on boom. ay = ra = (18)(0.08)° = 0.1152 fs? 7 30° Acceleration of B relative to the boom. Apo = 0 Coriolis acceleration. 2a = (2)(0.08)(0.6) = 0.096 fs? —S 60° (b) Acceleration of point B. 8p = Ap + Agtoon + 20U (ag), = -0.1152c0s30° + 0.096cos 60° = -0.051767 mis ~0.11528in30° — 0.096sin 60° = ~0.14074 m/s? dy = y(0.051767)° + (0.14074)" = 0.1500 fs? ay = 0.1500 ft/s” 7 69.8°PROBLEM 15.162 ‘The cage of a mine elevator moves downward at a constant speed of 12.2 mvs. Determine the magnitude and direction of the Coriolis acceleration of the cage if the elevator is located (a) at the equator, (B)at latitude 40° north, (c) at latitude 40° south. SOLUTION y \0 Earth makes one revolution (27 radians) in 23.933 h (86160 s). 2n 36160 = (72.926 10° rads) Velocity relative tothe Earth at latitude angle 9. Veet = 12.2(-c0s 9H ~ sing) Coriolis acceleration ,. 8, = 20% Vpn = (2)(72.926 x 10°) x[12.2(~cos pl - sing] = (179410 cre) @ 9 = 0°, cosp = 1.000 a, = 1.779 «10 mis? west (0) @ = 40°, cose = 0.76604 a, = 1,363 x10 m/s? west (© 9 =-40°, cosy = 0.76604 a, = 1.363 x10? m/s? west €PROBLEM 15.163 ‘A rocket sled is tested on a straight track that is built along a meridian, Knowing that the track is located at latitude 40° north, determine the Coriolis acceleration of the sled when it is moving north at a speed of 600 mifh. SOLUTION Earth makes one revolution (2 radians) in 23.933 h = 86160 s. at 36160 72926 «10° rads) Speed of sled. 1 = 600 mish = 880 fs Velocity of sled relative to the Earth. Vea = 880(~sin gi + cose) Coriolis acceleration. = 20% Van 2)(72.926 « 10°) x [880(-sin gi + cos i)] .12835sinok Atlatitude 9 = 40°, ).12835sin 40% = 0.0825k fis? 0.0825 fus? westPROBLEM 15.164 ‘The motion of nozzle D is controlled by arm AB. At the instant shown the arm is rotating counterclockwise at the constant rate @ = 2.4 rad/s and g portion BC is being extended at the constant rate u = 250 mm/s with C7 respect to the arm. For each of the arrangements shown, determine the et acceleration of nozzle D. SOLUTION For each configuration Tiya = (275 mm)i + (100 mm) § ‘Acceleration of coinciding point D’. Ay = ak x Iy4 - O'R, apy = 0 —(2.4)° (275% + 100j) = -(1584 mm/s? )i - (576 mm/s?) j ‘Acceleration of point D relative to arm AB. apap =O Length CD. cD = V75? +100? = 125mm Velocity of point D relative to the arm AB. Vovas = (250 mm/s) Case (a) Case (6) Vous = Bast +100j) = (150 mm/s)i + (200 mas) Coriolis acceleration. 20k Yop ase (a) (2)(2-4k) x 2504 = (1200 mm/s? Case (b) (2)(2.4k) x (150i + 200j) = -(960 mm/s*)i + (720 mm/s?) j Acceleration of nozzle D. 8p = Ay + App + 20K * Vpv4p @ Ap = 15841 ~ 5764 + 1200] = ~(1584 mmvs?)i + (624 mms?) ay = \[(t584) + (624)? = 1702 mms? tanB = Baus ap = 1702 mm/s? > 21.5°-4 © Ap = ~1584i ~ $76] - 960i + 720] = -(2544 mmv/s)i + (144 mmv/s)j ap = y(2544)° + (144)? = 2548 mm/s? 144 2544" tan p= B= 328 2550 mm/s? >. 3.24°PROBLEM 15.165 Solve Prob. 15.164, assuming that the direction of the relative velocity u is reversed so that portion BD is being retracted. SOLUTION For each configuration ova = (275 mm)i + (100 mm) j Acceleration of coinciding point D’. ayy = ak x rng — OR yg ay = 0 ~(2.4)" (275k + 100j) = ~(1584 mmis!)i ~ (576 mms!) § Acceleration of point D relative to arm AB. Apap =0 Length CD. cb = V7" +100? = 125 mm Velocity of point D relative to the arm AB. Case (a) Vovan = ~(250 mmis)i (054 +100) = ~(150 mm/s)i ~ (200 mm/s) Case (6) Youn = 35. Coriolis acceleration. wk * Vg Case (a) (2)(2.4k) x (-250%) 200 ms") j Case (b) (2)(24k) x (1504 ~ 2003) = (960 mms*)i — (720 mmis* Acceleration of nozzle D. Bp = My + Apygy + 20K X Voyap i) ‘ay, = ~1884i ~ $764 1200] = -(1584 mm/s)i ~ (1776 mm/s) ‘ap = y(1584)' + (1776)° = 2380 mm/s? = 176 p48, 5 2 3° wap = TT, B= 483, ap = 2380 mm/s? 7” 48.3° ® Ap = ~1584i ~ $76j + 9604 ~ 720j = (624 mmvs*) i - (1296 mm/s*) j Ay = (624)° + (1296) = 1438 mm/s? tang = 28, p= 64, fy = 1438 mis? 7 643° 24PROBLEM 15.166 10 mn Collat P slides toward point 4 at a constant relative speed of 2 m/s along rod AB which rotates counterclockwise with a constant angular velocity of 5 rad/s. At the instant shown determine (a) the velocity and 400 nm acceleration of point P, (6) the velocity and acceleration of point D. SOLUTION Twa (0.4/3 m)i + (0.4m)j ‘Motion of coinciding point Poon rod AB. Sk) x (0.4V/3i + 0.43) = ~(2mvs)i + (2V3 mvs) j By = Op Xtra ~ Oiatns = 0~(5) (0451+ 043) = (1045 mi") - (10 ms") Motion of collar P relative to rod AB. Vprag = ~2e0s30% — 2sin30%j = -(V3 mvs)i-(Im/s)j, ayy Coriolis acceleration. ou» * Vers (2)(Sk) (~2e0530% - 2sin30%j) = (10 m/s*)i — (10V3 mvis*) (@) Motion of collar P. Vp = Vp + Vpygy = 24+ 2V3j - V3-j LAT m/s Ss 33. ~(3.7321 mis)i + (2.4641 mvs), vp 1 + Apap + 20 4p * Vpray = ~10V34 — 10) + 0 + 103 - 10/35 = -(73205 m4?) + (273005 m/s") ay = 283.mis? 7 15.0°4 (6) Motion of point D. Vp = Vp + Viyp = ~3:7321i + 2.4641j + 0.209) Y= Dern Bquating the two expressions for vp and resolving into components, T321 = ~04ep¢ pp = 9.3303 rads 2.4641 + 0.20) — @pp = ~12.3205 rad/s 3.7321 m/s)i vp =3.73mls — 4 D (0.4)(9.3303)PROBLEM 15.166 CONTINUED Ap + App = Ap + Appk x 0.2 — (app) (0.21) ~13205i + 27,3205} + 0.2atpp§ - 3035894 Ap = apek x 0.4j ~ we (04)j = Oxy ~ 34.822) ‘Equating the two expressions for a.) and resolving into components, §:-37.679 = -Odaipe, ip = 94.198 rads? |: 27.3205 + 0.2app = -34.822, app = 310.71 rad’s? ~(0.4)(04198)i ~ 34.8225 = (37.679 m/s?)i~ (34.8228) ay = 513m? ¥ 42.74PROBLEM 15.167 Collar P slides toward point A at a constant relative speed of 3.2 m/t ; along rod AB which rotates clockwise with a constant angular velocity o' 4 rad/s. At the instant shown determine (a) the angular velocities of bar: == PD and DE, (6) the angular accelerations of bars PD and DE. SOLUTION Tha = (0.43 m)i +(04m)j Motion of coinciding point P’ on rod AB. Vp = @4y X Fp = (~4k) x (0.4V3i + 0.4)) = (1.6 mvs); - (1.6/3 mis) j Mp = ep tng ~ Olay = 0~ (4) (OAV + 04 = -(64V5 mis) -(64m'?)j Motion of collar P relative to rod AB. .200830°I - 3.2sin30°; (1.63 m/s)i (1.6/5), apap Coriolis acceleration. 2049 * Veas (2)(~4k) « (-3.2c0s30%% ~ 3.2sin30°4 128mi?}i + (125 m)j Motion of collar P. Vp = Vp + Vpigg = 1.61 1.633 - 1.6V3i - 1.65 (0.17128 mvs)i - (4.37128 mis) j fp = Op + App + 20 49 XY pyg = 6A ~ 645 + 0-12.81 + 12.85) ~ (23.885 mis*)i + (15.7703 mis*)j Vp = Vp + Vpp = ~1-17128i ~ 4.37128) + 0.20ppj Vp = -0.4eOpei Equating the two expressions for vp and resol into components, =LITI28 = -O4epg) pg = 2.9282 rad/s 0-=-437128 +020, @pp = 21.856 rad/sPROBLEM 15.167 CONTINUED Ap + py = Ap + @yyk 0.28 ~ (0p) (0.28) = -23.8854 + 15.7703} + 0.2appj — 95.5404 Ay = @pgk x 0.45 ~ wy (0.4) j = -O4arpgi - 3.42975 juating the two expressions for a, and resolving into components, i: 119.425 = -O4aip¢, ioe = 298.56 radis* 15.7703 + 02a», 96 rad/s* 3.4297, app a) Opp = UI rad/s >), @py = 2.93 radls >) by 70 = 96.0 rads? ), cing = 299 radls? )PROBLEM 15.168 AA chain is looped around two gears of radius 2 in. that can rotate freely ith respect to the 16-in, arm AB. The chain moves about arm AB in a , clockwise direction at the constant rate of 4 inJs relative to the arm. Knowing that in the position shown arm 4B rotates clockwise about A at the constant rate @ = 0.75 rad/s, determine the acceleration of each of the chain links indicated. Links / and 2. SOLUTION Let the arm AB be a rotating frame of reference. 2 = 0.75 radis .)= Link 1 m= -(2in)i, — Vyyg =u =(4in/s)j a, = -0%5, = ~(0.75) (~21) = (1.125 in/s)i Mvae = 20 vyyay = (2)(-0.75k) x (43) = (6 inds)i 8+ ayy + 20% Vygy = (15125 ins?) a Link r= (Bin)i+(2in)j vag =u — = (4inds)i ~ (0.75) (81 +24) 4.5in/s*)i = (1.125 yay = 0 20 « vo 4q = (2)(~0.75k) x (41) = -(6in/s*)j y= a + yyy + 20% Voip = 458i ~ 1.1255 ~ 6] = -(45in/s*}i— (7.125; = yas) + (7.125) = 8.43 ins? 43 ins? 57.79PROBLEM 15.169 ‘A chain is looped around two gears of radius 2 in. that can rotate freely’ with respect to the 16-in. arm AB. The chain moves about arm 4B in a clockwise direction at the constant rate of 4 in/s relative to the arm. Knowing that in the position shown arm AB rotates clockwise about 4 at the constant rate a = 0.75 rad/s, determine the acceleration of each of the chain links indicated. Links 3 and 4. SOLUTION Let arm AB be a rotating frame of reference. Q = 0.75 rad/s ,)= ~(0.75 rad/s) Link 3: = (18 Vyan =| = -(4in/s)j ~(0.75)°(18i) = -(10.125 inJs*)i @ sinis)i 2)(~0.75k) x (~4j) = -(6 ins? )i Ay = ay + Ay gy + 20% Vygg = —24.125 ins? a, = 24.1 inde? — 4 Link 4: r= (in)i-(2in)j Vag =u -— = -(4inds)i (0.75) (8i - 23) = (4.5 in/s*)i + (1.425in/s*)j yas = 0 20x Van = (2)(-0.75k) x (-4i) = (6indis*)j neg agp #20 Vegy = -(4Sin/e)H + (7125in/82)§ AB ins? 1.125 tang = 225, p= 577° 6 45 a a, = 8.43 in/s? 7.794PROBLEM 15.170 ‘The collar P slides outward at a constant relative speed u along rob AB, which rotates counterclockwise with a constant angular velocity of 20 rpm. Knowing that r = 10 in. when @ = 0 and that the collar reaches B when @ = 90°, determine the magnitude of the acceleration of the collar P just as it reaches B. SOLUTION o = 20m = 2028) _ 28 = = 90° == radi a jr, a= 0, 9 = 90" = 5 radians Uniform rotational motion. Uniform motion along rod. mtu 40 inls,— vngn = “2 ins | 7 o7s 3 Acceleration of coinciding point P’ on the rod. (r = 20in) ap era? = (2022) = ae in/s? | = 87.730 in/s? | Acceleration of collar P relative to the rod. pal 2n)( 40 : Coriolis acceleration. 20% Vpn = 2ow = @(22\2) 55,851 in/s? — Acceleration of collar P. Bp = Ap + Apap + 20% Vergy ap = [87.730 inJs? | ]+ [55.851 in/s? — ] ap = 104.0 inis? 7 575° ap = 104.0 in/sPROBLEM 15.174 Pin P slides in a circular slot cut in the plate shown at a constant relative speed u = 180 mm/s, Knowing that at the instant shown the plate rotates clockwise about 4 at the constant rate @ = Grad/s, determine the acceleration of the pin if it is located at (a) point 4, (b) point B, (© point C. SOLUTION = 6rad/s ), 0 p= 200mm, 36 rad?/s?, au = (2)(6)(180) = 2160 mm/s? = 2.16 m/s? (@) Point A. y= 0, Vgp = 0.18 m/s — agp =f = 0.162 ms? f Coriolis acceleration. 2ou | = 2.16 ms? | ay = ag + typ + Pow |] = 2322 m4" | a, =232ms }€ (6) Point B. 22m S45 Vyp = 0.18 mis ay = -0°ry = ~(36)(0.2V2) Ss 45° = 7.202 mis? S 45° Ape =“ = 0.162 mis? ? Coriolis acceleration. 2ow = 2.16 mis? —~ y= Ap + Age + [lou — ]=[9.522m8? —~ ]+[72 ms" ] 1.94 m/s? “S371 re= 04m}, Yop = O.18mis — Ace = -wte = -(36)(0.4} ) = 14.4 mis? | op = = 0.162 mis* or = | Coriolis acceleration. ou = 2.16 mis? | 6 = Ae + agp + [2am |] = 16.722 mvs? | ae = 16,72 mis? |PROBLEM 15.172 Pin P slides in a circular slot cut in the plate shown at a constant relative speed u = 180 mm/s. Knowing that at the instant shown the angular velocity @ of the plate is 6 rad/s clockwise and is decreasing at the rate ‘of 10 rad/s, determine the acceleration of the pin if it is located at (a) point 4, (6) point B, (c) point C. SOLUTION o=6nds ), a= 10nd), 180 mm/s = 0.18 m/s, 2 _ (180) p 200 6 rad"/s*, 2 = (2)(6)(180) = 2160 = 2.16 m/s Vp = 0.18 m/s — p= 200mm, = 162 mm/s? = 0.162 m/s (@) Point A. 0.162 mis? f Coriois acceleration, dou | = 2.16 ms? | ay = ay + yp + ou |] = 2322 mvs? { a, = 232m" | (6) Point B. tp =0.2N2 ms 45%, Vge = 0.18mi f = ak xy o'r» = [(0.2V3)(10) 7 45°] -[(36)(0.2V2) % 45°] [2v2 mst > 45 [722 mis? ~ 45°] 0.162 mis* —+ Coriolis acceleration. 2eou = 2.16 mis? — Ay = ay + Aye + [Zou — ]= [7.522 mis? —~ J+[92ms*| J ay = 11.88m/s? S 50.79 € =04m}, Vor = 0.18 mis — (©) Point C. ag = ak x Fe ~ re = [(0.4)(10)— ]-[(36)(0.4 |) ]=[4mis? — ]+[14.4 ms? | ] 0.162 mis*| Coriolis acceleration 16 mis* | te =A + gp +20u |= [Ams? — ]+[t6r22ms? |] ag =17.19 ms? > 765° 4PROBLEM 15.173 Pin P is attached to the wheel shown and slides in a slot cut in bar BD. The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that x = 480 mm when @ = 0, determine (@) the angular acceleration of the bar and (b) the relative acceleration of pin P with respect to the bar for the given data. 0=0. SOLUTION Coordinates. Xp =x, + esind, Jp =r +ecosO (x4)y = 480 mm = 0.48 m = 200 mm = 020m = 140mm = 0.14 m @=0 xp = 480mm = 048m Velocity analysis ec =20rads }, yy = 4p ) (r+ eye Vp 0.20 + 0.14)(20) 8 m/s Ve = [xan |} + [es —] Vr = [ucos — ]+ [using }] perce) Xp 048 B = 16.260° Use vp = vp + Vp and resolve into components. te: 68 = 0.140, + uc0s 8 a +| + 0= 0.480) - using @ Solving (1) and (2), @gp = 3.8080 rads, u = 6.528 m/sPROBLEM 15.173 CONTINUED ‘Acceleration analysis. aye = gp = Ay } 140 ayy = ro} = (0.14)(20)° = 56 mis? | ap = ay +ap, = 56ms? | atm |}+ [eae — ]+ [+ e% — ]+[eobo | ] = [048 | ]+[0.14¢a9 — ]+[(0.48)(3.8080)° — ] +{(14)(3.8080)' | ] = [048a,p |)]+[0.14ayp — ]+[69604 ms? — ] +[2.0301 m/s? | ] apy = [cose — ]+ [ising t] Coriolis acceleration. ergo = (2)(3:8080)(6.528) = [49.717 mis? KA] Use ap = ap + Apr +[20,0u \, A] and resolve into components. te: 0 = 0.14ay ~ 6.9604 + tos A + 49.717sin B or O.1daryy + tteos f = ~6.9602 ® +]: 56 = 0.48cgp + 2.0301 + wsin B + 49.717 c05 8 or O.48415p - isin f= 6.2415 @ Solving (3) and (4), gp = 809 rad’s, wi = -8.43 mis (a) gp = 8.09 rad/s* > © App = 843 m/s? 7 16.26°PROBLEM 15.174 Pin P is attached to the wheel shown and slides in a slot cut in bar BD. ‘The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that x = 480 mm when @ = 0, determine (a) the angular acceleration of the bar and (6) the relative acceleration of pin P with respect to the bar forthe given data, 8 = 90", Coordinates. y= (ey +7 yer Me ao =O 4 tesind, yp = r+ ecos8 Data: (4), = 480mm = 0.48 m r= 200 mm = 0.0m = 140mm = 0.14m @=90° xp = 048+ (020) 4) +(0.14)=0.93416m, B= Velocity analysis. @4c = 20radls >, gy = gy > Vp = V4 + Vig rage — ] + [etac |] = [(02}(20) — J +[(019)(20) |] = [4inds —~ ]+ [28 ins |] ve = [ise |]= [09341600 |e va =e Use vp = vp + vpp and resolve into componens. As dew ow .00 ms. +] 28= 0934160, ayy = 2.9973 rads } Acceleration analysis. Gye =O, Oy = tap) apy = roy = (0.14)(20)7 56 mvs? — Ap = 4 + apy = 56 mis? —PROBLEM 15.174 CONTINUED ap = [sm |]+ [x03 — ]= [093416090 |] +{(0.93416)(2.9973) — ] = [09341695 | ]+[83923ms? — ] ane = — Coriolis acceleration — 2wgpu = (2)(2.9973)(4.00) = 23.978 mis? | Use ap = ap + App + 2agu | and resolve into components. -56=8392341i, = -47.6 mis’, |: 0 = 0.934160 + 23.978 egy = -25.7 rads? (@ Otyp = 25.7 rad/s?) © App = 47.6 mis? —PROBLEM 15.175, Knowing that at the instant shown the rod attached at B rotates with a constant counterclockwise angular velocity «@y of 6 radi, determine the angular velocity and angular acceleration of the rod attached at A. SOLUTION Geometry. AB=16in, BD = 16tan30", AD = 16sec30° in Let the rod attached at B be a rotating frame of reference. Q = ay = brad's Motion of coinciding point D' on the rod attached at B. Vpy = (BD)vy = (16tan30°)(6) = 96tan30° in/s —= ay = (BD)o} = (16tan30°)(6)° = $76tan30° ins? f Motion of collar D relative to the frame. Yor ape = at Coriolis acceleration. Deogu = (2)(6)u = 12u = Y¥p = Vp + Voge = [96tan30°— ]+[u f ] Ay = aly + ayy + 2ogu = [s76tan30° []+ [a [|] +12" —] Rod AD. Vp =(AD)a, = (168630), 260° ay = [l6sec30%, 60") +[16see30%0% a] Equate the two expressions for v,, and resolve into components. ‘96tan 30° = (16sec30°)«,(cos60°), @, = 6.00 rad/s“) +h w= (16sec30° in60° = (16se030°)(6)(sin60°) = 96 in.s Equate the two expressions for a, and resolve into components, “tar ~ 12u = (1630030°)c.,0860° ~ 165e¢30°03cos30° ny a, = @Q4nds? )4PROBLEM 15.176 Knowing that at the instant shown the rod attached at B rotates with a 7 fe constant counterclockwise angular velocity ag of 6 rad/s, determine the angular velocity and angular acceleration of the rod attached at 4. SOLUTION Geometry. AB=16in, BD = 16tan30° in, AD = 166¢30° in. Let the rod attached at A be a rotating frame of reference. Q=0,) Motion of coinciding point D’ on rod attached at A, vy = (AD) eng = (16se030°) 74 £60" ay = [(AD)a, 60°] +[ 4003 30°] = [16se030%a, 60°] + [16se030%0} 30°] Motion of collar D relative to the frame. Voe =" S30, aye = S30? Coriolis acceleration. ou 260° Vp = Yo + Yor = [(16sec30°)@, 60°] + [v S30") ay = [(l6seca,) 60°] + [(16sec30°) 03 30°] + [i 30°] + [20,4 60°] Rod BD. Vp = (BD)ay = (16tan30°)(6) = [(96tan30°)in/s® — ] ay) = (BD)o} = (16tan30°)(6)° = [(576tan30°)in/s? f ] quate the two expressions for v,, and resolve into components. (16sec30°)q, = 96tan30°c0s60", ~S30 96 an 30°cos 30° 48 ins _Equate the two expressions for a and resolve into components. 22.60%: (1680030°)a4, + 2oqu = (576tan30°)(sin 60°) aa, = 51638830"sin60° - 2oyye _ $76tan30°sin60° —(2)(1.5)(48) a 16sec 30° 7 16sec30° = 7.79 rad/s a, = 7.79 rads? 4PROBLEM 15.177 ‘The Geneva mechanism shown is used to provide an intermittent rotary ‘motion of disk S. Disk D rotates with a constant counterclockwise angular velocity @p of 8 rad/s. A pin P is attached to disk D and can slide in one of six equally spaced slots cut in disk S. It is desirable that the angular velocity of disk S be zero as the pin enters and leaves each of the six ao slots; this will occur if the distance between the centers of the disks and viev#=120" the radii ofthe disks are related as shown. Determine the angular velocity and angular acceleration of disk $ at the instant when ¢ = 150° SOLUTION Geometry. Law of cosines. 25? + 2.50? ~ (2)(1.25)(2.50)cos30° ° 8 54914 Law of snes. sin _ sino” 125 or (B= 23.7949 Let disk S'be a rotating frame of reference. Q=05 >, A=a,) Motion of coinciding point P” on the disk Vp = ras = 154914005 KB “ask X too ~ @itoo = [154914a5 , f] +[1.5491403 > f] Motion relative to the frame. Vos =" PB aps = B Coriolis acceleration. au B Ye + ¥ps = [580s KA] [u > BI tans +2age \ =[L.s4914as KA] +[1.5491403 > A] +[i > ]+ Pos \ A] Motion of disk D. (Rotation about B) Vp = (BP) ep = (1.25)(8) = 10 in/s > 30° ap = [(BP)ay 7 60°] +[(BP)o3 < 30°] = 0+ [(1.25)(8)' 30°] = 80 in/s? 30°PROBLEM 15.177 CONTINUED Equate the two expressions for vp. and resolve into components. KA: 15491405 = 10c0s(30° + £) }0c0s 53,794? 1.54914 8130 rad/s @s =3.8l rad/s) > B: w= 10sin(30° + f) = 10sin53.794° .0690 ins Equate the two expressions for ay and resolve into components. NB: 1.549145 ~ 2ogu = 80sin(30° + f) 80sin 3.794" + (2)(3.8130)(8.0690) 1.54914 1.4 rad/s? as =81.4radis? )fea Wky PROBLEM 15.178 Des In Prob. 15,177, determine the angular velocity and angular acceleration 4516 oF disk S at the instant when ¢ = 135°. ik when 9-120" P | tea —1 SOLUTION Geometry. Law of cosines. 1? = 1.25? + 2.50? ~ (2)(1.28)(2.50)c0s 45° = 1.84203 in. ° Zee : sin _ sin4s° Law of snes. snp ovens 125 p= 28.675" Let disk S be a rotating frame of reference, Q=0;), A=as) ‘Motion of coinciding point P’ on the disk. Vp = ros = 18420305 NB ap = ask X99 ~ apo = [1.842035 Kf] +[1.8420302 > 6] Motion relative to the frame. Vas =u PB aps = B Coriolis acceleration. osu \ B Vp = Vp + Vrs = [1.842030 A] +[u > A] Ap = ap + aps +20 = [1.862085 Nf] +[1.8820302 > p]+[4 > ]+ [Roy \ 6] Motion of disk D. (Rotation about B) vp = (BP)@p = (1.25)(8) = 10inJs 7 30° ap = [(BP) ap 45°] + [(8P)o3 45°] = 0 +[(1.25)(8)" ~ 45°] = 80 in/s? — 45°PROBLEM 15.178 CONTINUED Equate the two expressions for vp and resolve into components. KB: 18420305 = 10¢05(45° + 6) do, = 1000873.675" s “7.94203, = 1.52595 rad/s as = 1.526 rad/s) ] Bi u=10sin(45° + ) = 10sin73.675° = 9.5968 inJ/s Equate the two expressions for ap and resolve into components. A.B: 1.842034 - 204u = 805in(45° + A) __ 80sin 73.6750 + (2)(1.52595)(9.5968) A = = 57.6 radis a 7.84203, as = 57.6 radis? )PROBLEM 15.179 ‘The disk shown rotates with a constant clockwise angular velocity of 12 rad/s. At the instant shown, determine (a) the angular velocity and angular acceleration of rod BD, (6) the velocity and acceleration of the point of the rod coinciding with £. SOLUTION Geometry. tanB B= 26565° 10 Lye = 22 = 11.1803 in, Mt 6B in, Velocity analysis. 4p = 12 tadls ), Opp = Oy > Vp = (AB)@4y = (5)(12) = 60 inds | Ve = Vp + (BE)Om > B = [60 f ]+[11.18030,,, > A] Vow =[¥N A} ve =0 Use Ve = Ye + Vion and resolve into components. +7 A: 0= -60sinf +11.18030%_), yp = 2.400 rad/s +X B: 0 = 60c0s 8 - u, 53.666 ms ver = [60 f ] +[(11.1803)(2.400) > A] = 53.7 in/s Ss 63.4° Acceleration analysis. AB) ar ap = ay +[(BE)asy > B)+[(BE)oin \ A] = [720 = ]+ [111803495 7 A] + [64399 \ A] Ns] (5)(12) = 720 in/s* Apap = Coriolis acceleration. Dogon = (2)(2.400)( 53.666) = [257.60 > f]PROBLEM 15.179 CONTINUED Use 8e = 82+ 8x50 +[2090" 7 A] and resolve into components. +77 B: 0 = ~720¢05 f +11.1803a1gp + 257.60 Gyp = 34.56 rad/s” +N Bi 0 = -720sin f + 64.399 — 1, 257.59 ins? = [720 — ]+[(11.1803)(34.56) > A] + [64.399 \; 6] = [720 — ]+[38639 > A] + [64399 \ 5] = 365 ins? W184" Summary: (@ Opp = 2.40 rad/s), yp = 34.6 rads?) 4 (b) Ve = 53.7 in/s Ss 63.4%, ay = 365 in/s? S18.4°~ PROBLEM 15.180 Collar B slides along rod AC and is attached to a block that moves in a vertical slot, Knowing that R= 18 in, @=30°, @ =6 radis, and @ = 4 rad/s*, determine the velocity and acceleration of collar B. SOLUTION Geometry. R=18in, vo = vals Let rod AC be a rotating frame of reference. vp = (AB)o ay = [20.7846 \ 30°] + [20.78470? > 30°] Motion of B relative to the frame. Vauc =[u 230°), aguc = [i < 30°] Velocity Analysis. Vp=VetVaucs 0 = 6radis vg { [= 20.7846, 30°] +[u << 30°] te: 0 = ~(20.7846)(6)sin30° + uc0s30° u = 72.000 in/s, vp = (20.7846)(6)cos30° + 72.000sin30° vg = 144,000 in/s Vp = 144.0 inds [4 Coriolis acceleration. 2eu = (2)(6)(72.000) = [864 in/s® \, 30°] Acceleration analysis. Bp = ap +p ic + Pou \ 30), a= 4rad's? [25 1 = (20.7846a \; 30°] + [20.78470? 7 30°] + [i << 30°] + [1728 \ 30°] = [83.1384 \, 30°] + [748.246 7 30° + [ir << 30°] + [864 \ 30°] = [947.14 \, 30°] + [748.246 7% 30°] + [ii 30°)PROBLEM 15.180 CONTINUED + 0 = -947.14sin30° — 748.246c0830° + i:cos30° = 1295.51 ins? 947.14c0830° - 748.246sin 30° + 1295.51sin30° = 1094 inJ/s* ay = 1094 ins? | 4PROBLEM 15.181 ‘The bowling ball shown rolls without slipping on the horizontal xz plane with an angular velocity @ = 0,i+0,j+0,k. Knowing that v4 =(48m/s)i-(48m/s)j+G.6m/s)k "and vp = 9.6m/s)i +(7.2.m/s)k, determine (a) the angular velocity of the bowling ball, (6) the velocity of its center C. 109 mm SOLUTION At the given instant, the origin is not moving. ijk 2 481-4.8)+3.6k=| 0, 0, o, 0.109 0.109 0 0.109, + 0.109( 44.037 radis, 44.037 radis 3.028 rad/s ik Vp =@X%p: 9.61+72k =|0, @ o, 0 0218 0 9.61 + 7.2k = -0.2180,1 + 0.2180,k i: 0218, =96 — @, = 44.037 ads i: 02180, = 7.2 3.028 radis ©, = @, ~ 33.028 = 0 (a) Angular velocity © = (33.0 radis)i ~ (44.0 rad’s)k () Velocity of point C. 44.037k) x 0.1095 = 481 + 3.6k 4.80 mis) + (3.60 m/s)kPROBLEM 15.182 ‘The bowling ball shown rolls without slipping on the horizontal xz plane with an angular velocity @ = 0,i+0,j+0.k. Knowing that Vp = G.6m/s)i - (4.8m/s)j + (4.8m/s)k and +(9.6m/s)k, determine (a) the angular velocity of the bowling ball, (3) the velocity of its center C. 109. mm. SOLUTION At the given instant, the origin is not moving. ij ok Vp =OXty: 3.61-48)+48k=|0, 0, 0 0.109 0.109 Ai 48) + 48k = 0.109(0, ~ )k~ 0.10805 + 0.1080. i: 0,109(@,-@,)=3.6 — @, ~ @, = 33.028 rad/s fs -0.1090, = 4.8 44.037 rads Kk: 0.1090, 44.037 radis Fo 6 vp =Oxry: 7214+96k=|0, 0, 0 0218 0 7.24 +9.6k = 0.2180, + 0.2180,k 33.028 radis 44.037 rads (a) Angular velocity. (6) Velocity of point C. = (3.60 mis)i + (4.80 ms)kPROBLEM 15.183 At the instant considered the radar antenna shown rotates about the origin of coordinates with an angular velocity @ = ©, + ,j + @,k. Knowing that (v,), =15 wis, and (vg), = 18 in/s, determine SOLUTION ry = (I2in)i-(10 Vg = (v4), i +15) + (v4), ijk vq =0xr4: (v4),1+15)+(%4),k=]0, 0, 0 12 0-10] (v4), 1 +15) + (v4), = -100,4 + (120, + 100,)j - 120k i: (v4), = -100, o J: 15 = 12, +100, @ k: (v4). @) tq = (12in.)i- (10in)j ijk Vy =Oxry: (vg),1+9)+18k =|0, 0, @, (vp), 4+ 95 + 18k = 1 i: (v4), = 20, “ f 9 =e, © k: 18 = -100, - 120, © From (5), 0.75 radls From (2), 0, = {p{I5~ 120,) = 0.600 rads From (6), ®, E(18+ 100,) = 2.00 rad’sPROBLEM 15.183 CONTINUED (@) Angular velocity «0 = (0.600 rad/s) ~ (2.00 rad/s)j + (0.750 rads) From (1), (v4), = 100, = 20.0 ins From 3), (v4), =-120, = 240 in/s (8) Velocity of point A. 4 = (20.0 in/s)i + (15.00 inJs) + (24.0 in/s)kPROBLEM 15.184 ‘The blade assembly of an oscillating fan rotates with a constant angular velocity @, = -(450 rpm)i with respect to the motor housing. Determine the angular acceleration of the blade assembly, knowing that at the instant shown the angular velocity and the angular acceleration of the motor housing are, respectively, @, = -(3 rpm)j and @, = 0. (450 rpm)i = -(152 rad's)i (3 rpm)j = -(0.100% rads) j Let the frame Oxyz rotate with the motor housing. Rate of rotation of frame Oxyz: = 0, = -(0.1007 rad’s)j Angular acceleration. = (0+ 0) + (-0.100z}) x (-15xi ~ 0.1002) 50077kfF PROBLEM 15.185 Gear A is constrained to roll on the fixed gear B but is free to rotate about axle AD. Axle AD is connected by a clevis to the vertical shaft DE which rotates as shown with a constant angular velocity @,. Determine (a) the angular velocity of gear 4, (b) the angular acceleration of gear A. SOLUTION Let, be the spin of gear 4 about the axle AD. Total angular velocity. © = @J + 0,(-sindi + cos0}) « te = (Lsind ~ reos0)i ~ (Leos + rsind)j Since gear B is fixed, ve = i i kK oxrc=| -@,sind (a +@, cos) 0|= 0 (Lsind - reos0) -(Leos@ + sin) 0 [o, sind(Lcos@ + rsind) ~ @, cos (Lsind - ros?) ~ @(Lsind ~ rcos0)k = 0 @(Lsin@ ~ rcosd) ind ~ oxo) (@) Angutar vetocity. erat (Sse . cose (sina +c0s0}) o- oysine [oxo Esino) + {sna + £eoo)i] < (b) Angular acceleration. Frame Oxy is rotating with angular velocity = a. =0+ajx {osinol(ono 7 sine) + {cose + Lanai} Oo of ina sind — oo) <PROBLEM 15.186 Gear A is constrained to roll on gear B but is free to rotate about axle AD. Axle AD is connected by a clevis to the vertical shaft DE which rotates as shown with a constant angular velocity @. Knowing that gear B rotates, Sp with a constant angular velocity @, , determine (a) the angular velocity of gear 4, (b) the angular acceleration of gear 4. SOLUTION Let @, be the spin of gear A about the axle AD. Total angular velocity. @ = aj + 0,(~sin0i + c0s6}) fo = (Lsind ~ reos6)i - (L.c0s0 + rsin8)j Since gear B is rotating with angular velocity «,j, on gear B Ve = O45 ~«,(Lsin@ ~ rcos0)k i j | On gear 4 vos @xre=| -0,sind (a +@,c080) 0} (Lsind ~ rcos8) -(Leos0 + rsind) 0 [e,sind(Lcos0 + rsind) ~ @,cos(Lsind ~ rcosd))k ~a,(Lsind ~ rcosd)k Equating the two expressions for vc and solving for ©, =(0,- 0») Esino ~ cosa) (@) Angular velocity. = a+ (a - 0) Zain 7 coso (snot + £0803) o=0 sno (cox 7 sino) + {sina + Eco + (oma - Esin0 (sino +c0s0j) 4 (6) Angular acceleration. Frame Otyz is rotating with angular velocity 2 = «j. f = yy. +AxO =0+ajxo= (0-0; )| Zsine - cose) <PROBLEM 15.187 ‘The L-shaped arm BCD rotates about the z axis with a constant angular velocity «, of 5 rad/s. Knowing that the 7.5-in.-radius disk rotates about BC with a constant angular velocity a, of 4 rad/s, determine the angular acceleration ofthe disk. SOLUTION Total angular velocity. © =0,j+ ok = (4 rad/s) j + (5 rad/s)k Angular acceleration Frame Oxy is rotating with angular velocity © = ayk. 4 == boy. +2%0 = 0+ mk x (a,j + Ok) = -ea,5 a = -(5)(4)i = -204 (20.0 radis*)iPROBLEM 15.188 In Prob. 15.187, determine (a) the velocity of point 4, (6) the acceleration ‘of point 4 SOLUTION Total angular velocity. @= aj tok @ = (4rads)j + (5 rads)k Angular acceleration. Frame Oxpz is rotating with angular velocity © = ok. 6 == 0p,, + 2x0 = 0+ ak x(a) + ok) = -o@xi a =~(5)(4)i=-201 a = -(20.0radis* (a) Velocity of point A 1 = (73 8 v,=oxr,=|0 4 5|=(-30in/s)i + (37.5inJs)§ — (30:n/s) 75 60 v4 = -(2.50 fils)i + (3.13 ft/s) j — (2.50 fs) k (6) Acceleration of point A ijk ijk axrtoxv,=|2000| + |0 4 5 75 6 0| — |-30 37.5 -30] -120k — 307.5i — 150j + 120k = (-s07 inv") -(1s0ine?)j a, = -(25.6 fs ~ (12.50 fus*)j, PROBLEM 15.189 A gun barrel of length OP = 12 ft is mounted on a turret as shown. To keep the gun aimed at a moving target the azimuth angle 8 is being increased at the rate df /dt = 30°/s and the elevation angle 7 is being {—7-yinereased at the rate dy/dt =10°/s. For the position = 90° and |? 7 = 30°, determine (a) the angular velocity of the barrel, (b) the angular ‘acceleration of the barrel, (c) the velocity and acceleration of point P. (a) Angular velocity. (0.524 rad’s)j (6) Angular acceleration. Frame Oxyz is rotating with angular vel (0.0914 rads? )k (c) Velocity and acceleration of point P. For f= 90° and y = 30% Fp = (12.)(sin30"j + c0s30°k) i i k 1) (2 -|=| -= 0 () 3) sastas 18150-0720 p= (5.44 f/s)i + (1.814 fs) j - (1.047 fs)kPROBLEM 15.189 CONTINUED ap = axrp +0xvp tog =k (eis 103900) «|-(Z) (2) ° |_saai4 1.81380 —1.04720 = 0.5483 + 0j + 0.54831i — 0.18277j - 3.1657k 097 fus*)i - (0.1828 fs") - (3.17 Us") Kk ¢PROBLEM 15.190 ‘A 60-mm-radius disk spins at the constant rate @ = 4 rad/s about an axis held by a housing attached to a horizontal rod that rotates at the constant rate «@, = 5 rad/s. For the position shown, determine (a) the angular acceleration of the disk, (6) the acceleration of point P on the rim of the disk if 6 = 0, (c) the acceleration of point P on the rim of the disk if @ = 90°, SOLUTION Angular velocity. © = oi + 04k = (5 rad’s)i + (4 rad/s)k (a) Angular acceleration. Frame Ory is rotating with angular velocity 2 = ai. 0 =0= yy, +Ox0 = 04 ai x (aii + ask) = -0,02,5 ~(4)(9)h = 205 200 nds) 4 (b) @ = 0. Acceleration at point P. tp = (60 mm)i = (0.06 m)i Vp = @x ty = (St + 4k) x 0.061 = 0.24) ap = ax Fp +x vp = -20)x 0.061 + (51+ 4k) x 0.24) = 12k + 1.2k - 0. 0.961 + 2.4k a ~ (0.960 ms?) + (240 ms?) (6) 0 = 90°. Acceleration at point P. tp = (0.06 m)j Vp = 0X Fp = (51+ 4k) « 0.06) = -0.241 + 0.3K ap = aXe +OXVp = -20j x 0.06) + (Si + 4k) x (-0.241 + 0.3k) = 0+ 0-15) ~ 0.96) +0 = -2.46j. PROBLEM 15.191 ‘A 60-mm-radius disk spins atthe constant rate @, = 4 rad/s about an axis nm held by a housing attached to a horizontal rod that rotates atthe constant rate ‘@, =5 rad/s. Knowing that @ = 30°, determine the acceleration of point P| " r ‘on the rim of the disk. SOLUTION Angular velocity. @= ait ok @ =(5 rads) (4radis)k Angular acceleration. Frame Ony2 is rotating with angular velocity Q = a. a = Op: AKO = 0+ ai x(oi +0, oor} ~(4)(8), 20) a 20.0 rad/s") 8 = 30°, rp = (60mm)(cos30% + sin30°j) = (0.06m)(cos30% + sin30°j) i ik vp=oxrp=| 5 o 4 0.06cos30° 0.06sin30° 0) = (0.12 mis)i + (0.20785 mis) j + (0.15 m/s)k Acceleration of point P. Mp = aX tp + OX Vp i ik i i’ i) 20 of + | 5 o 4 0,06c0s30° 0.06sin30° 0) 0.12 0.20785 0.15) = 1.03923k ~ 0.8314i ~ 1.23} + 1.03925k. (0831 ms) (1.230 vs")j + (2.081m'?)xPROBLEM 15.192 Two rods are welded together to form the assembly shown that is attached to a fixed ball-and-socket joint at D. Rod AB moves on the inclined plane E that is perpendicular to the yz plane. Knowing that at the instant shown the speed of point B is 100 mm/s and @, < 0, determine (a) the angular velocity of the assembly, (b) the velocity of point 4. oe SOLUTION yo Ae Geomerry. Jz plane, Law of cosines. 280? = 200? + d® - 2(200)d cos120° . By solving the quadratic equation d = 120mm Let point be the midpoint of rod 4B. Typ = (120mm) sin60°j — (260 mm)k Fp = (100mm)i + (120)sin60°j-(260mm)k, —ryp = -100 mm) + (120 mm) sin 60°j ~ (260 mm)k Leta bea vector normal to plane ABD. 2 = sin 30°} + c0830°k ‘The projection of v,, onto the normal 2. is zero. 0 sin30° ¢0s30° Vy =h-Oxtyp =|0, 0, @, |= 219.900, = 0, 0 120sin60° -260 Also, the projection of v4 onto the normal 2. is zero. 0 sin30® cos30° Asvag=h-@xrey=|0 @, — @, |=200(sin30%, - cos30°,) 200 0 «0 =0 Then, @ = @,j + V3a,k ij k weer | a Ge, 100 120sin60° -260 (4400, i+ (1732050,) - (1000,PROBLEM 15.192 CONTINUED v= (re). + (v8), (440? «173.205? + 100°) 0? = 1007 oF = 0.042808 rad?s? -0.20650 ras @, = V3 (0.20690) = -0.35836 rad/s 0.20690 - 0.35836k (0.207 rad/s) j - (0.358 radis)k (@) Angular velocity. o (8) Velocity of point A V4 = OX typ i k vy, =| 0 0.20690 0.35836 =100 120sin60° — -260 v4 = (91.0 mm)i + (35.8 mmvs)j - (20.7 mms)kPROBLEM 15.193 In Prob. 15.192.the speed of point B is known to be increasing at the rate of 200 mm/s’. For the position shown, determine (a) the angular acceleration of the assembly, (6) the radius of curvature of the path of point B. SOLUTION From the solution to Problem 15.192, © = (0.20690 rad/s) j - (0.35836 rad/s)k yp = (120 mm)sin 60% - (260 mm np = (100 mm)i + 120sin60° = (260 mm)k 42. = sin30%j + c0530°K, vp = 100 mms. Note that @ is parallel to A. ‘The projection of ay, onto the direction 2 is zero. Deay = Re ax typ HR OX Vy = hoax typ +0 0 sin30° —cos30" a, a, a, 0 120sin60° -260 = 219.902, = 0 Also, the projection of a, onto the direction 2. is zero. De tyg = Rex rig +R OX yg = AeA X Fyg +0 0 sin30° c0s30° 0 a, — @, | = 200(sin30°a, ~ cos30°a,) = 0 20 0 «0 Velocity at B. vy Xa i i k v_=|0 0.20690 -0.35836| = 100 120sin60° -260 (91.036 mm/s) ~ (35.836 mm/s) j + (20.690 mm/s) k Unit vector tangent to the path of point B. ¢, = 0.910361 ~ 0.35836] + 0.20690kPROBLEM 15.193 CONTINUED Component of acceleration tangent to the path (ag), = € 4g = 0) OX tyy +6, OX Vy =e, AX Fup +0 0.91036 0.35836 0.20690 -| 0 a via, |=-483320, 100 120sin60° -260 But (a), is given as 200 mms?, thus 483.322, = 200 t, = 0.41380 rad/s*, a, = V3(-41380) = -0.71673 rad/s? (@) Angular occleration ~(0414 ray)j (0.717 rts?) Normal component of acceleration. (a5), = @*¥5 4 k (ag), =] 9 0.20690 -0.35836) 91.036 -35.836 20.690 17.123 mvs!) ~ (92.624 mas?) j + (18.835 mms? (ap), = y(17-123)" + (32.624)* + (18.835)° = 41.379 mmis? (100) _ 41379 — But is1,-> 241.7 mm (6) Radius of curvature of path p= 242mmPROBLEM 15.194 In the planetary gear system shown, gears A and B are rigidly connected to each other and rotate as a unit about shaft FG. Gears C and D rotate ‘with constant angular velocities of 15 rad/s and 30 rad/s, respectively, both counterclockwise when viewed from the right. Choosing the z axis pointing out of the plane of the figure, determine (a) the common angular velocity of gears 4 and B, (b) the common angular acceleration of gears A and B, (c) the acceleration of the tooth of gear B that is in contact with gear D at point 2. SOLUTION Contact points. 5 = (6in)i+ (9. (4in.)i + (3in)j Gear C. ¢ = (1S rad’s,)i Vy = @e * F = 1Si x (i + 99) = (135 in/s)k Gear D. @p = (30 rad/s) Vp = @p ry = 30ix (41 + 3)) = (90 in/s)k Gear A and B. o=aite,i+ ijk y=oxn=|o, 0 o,|=-90,4 + 60,)+ (90, + 60,)k 69 0 Matching expressions for ¥, a oxn Matching expression for v3. @ Solving (1) and (2) simultaneously, (a) Angular velocity. = (20.0 rad/s)i — (7.50 rad/s) j 4 Shaft HFG and thus the frame Fxyz rotates with angular velocity Q =o, = (20 rad’s)i. = 0 = Gpy, + 2x0 = 0-4 204 x (204 -7.5})PROBLEM 15.194 CONTINUED 2 (©) Angular acceleration. a = -(150.0 rads") (c) Acceleration of tooth of gear B at point 2. Gp = -0.414 rad/s?j — 0.717 radis*k a, = axntoxyy ijk ijk =|o 0-150} + }20 -75 0 4300 0 0 9 = 450i - 600) + Ok ~ 675i - 1800} + 0k = (-225in/s*)i ~ (2400 in/s*)j a, = -(18.75 fUs*)i - (200 fs?) 5-4PROBLEM 15.195, a Cbs AL \dius wheel is mounted on an axle OB of length 5 in. The wheel rolls without sliding on the horizontal floor, and the axle is “ perpendicular to the plane of the wheel. Knowing that the system rotates js at @ constant rate «, = 24 rad/s, determine (a) the angular velocity of the wheel, (6) the angular acceleration of the wheel, (©) the acceleration of point C located atthe highest point on the rim of the wheel. SOLUTION Geometry. = see Bi » ~Le0s fi + beos Bj (a) Angular velocities. For the system, Q = @j= (24 radls)j For the wheel, o=oi+e,j+ok v4 = Oxy = (0,1 + @,§ + 0k) x (-Isee Bi) = 0 -(lo, sec f)j - (la, sec) k = 0 For the system, x (-Le0s fi + beos fi) = (anlcos A)k “Matching the two expressions for vy, al ol 29) - § aais a's e,beosf = aylcosB or a, (®) Angular acceleration. = = 6 py, + Axo = (0+ 2.4j) x Bi = -(19.2 radis*)k 9.20 radis*)k aPROBLEM 15.195 CONTINUED (©) Conditions at point C. Fo = ~(leos A ~ bsin B)i + 2bcos fj = (-4.7891in.)i + (2.8735 in) j Vo = x re = 81x (-4.3581i + 2.8735}) = (22.988 ins) Be = axe +x VC = -19.2k x (4.35811 + 2.8735}) + 81 x 22.988k =(-Ss.rtins)t-(lo0229inis)) ag = 460 0) (8.35 1us")i<PROBLEM 15.196 Rod AB is connected by ball-and-socket joints to collar A and to the 320-mm-diameter disk C. Knowing that disk C rotates counterclockwise at the constant rate ay = 3 rad/s in the zx plane, determine the velocity of collar A for the position shown. SOLUTION Geometry. Ky =(-0.16m)k, — Fyy = -(0.Sm)i + (0.4m) §-(0.16m)k Velocity a B. Vp = Op) % tye = 31 (-0.16k) = (0.48 ms) Velocity of collar A. v4 = Vai V4 =VptVap Where Van = 4p XT yp Noting that v yp is perpendicular to ry, We get tpg * Varg = 0. Forming ryy * V4. we get Tua ¥4 = Fes: (Va+ Van) = Fee" Ve + Fan’ Van or Fun Va = Tan Yo w From (1), (-0.5i + 0.45 ~ 0.16k) -(v4i) = (-0.5i + 0.4§ - 0.16k) - (481) 04vy=-024 or vy = -0.6 misc PROBLEM 15.197 Rod AB of length $80 mm is connected by ball-and-socket joints to the rotating crank BC and to the collar 4. Crank BC is of length 160 mm and rotates in the horizontal xz plane at the constant rate @ = 10 rad/s. At the instant shown, when crank BC is parallel to the z axis, determine the velocity of collar A SOLUTION Geometry. Fy =(-0.16m)k, typ = (-0.24m)i + (0.42 m)j + (0.32 m)k Velocity at B. Vp = 4) % tac = 10} x (-0.16k) = (1.6 mvs)i Velocity of collar A. vy aud = Vet Van where Vop Noting that v yp is perpendicular to typ, We get Fy Vnig Forming ry: v4. We get Faw Va = Tan *(Va + Van) = Fan’ Yat Fan Von or a From (1), (0.241 + 0.42) + 032k) - (vj) = (0.241 + 0.425 + 032k) - (-1.64) 0.42v, = 0.384 or 0.91428 mis v4 = (0.914 mis)j4PROBLEM 15.198 Rod 4B of length 13 in. is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown, Knowing that collar B moves toward point D at a constant speed of 36 in/s, determine the velocity of collar A when 6 = 4 in, SOLUTION Geometry. Velocity of collar B. Velocity of collar A. Noting that vy is perpendicular to typ, We get tna * Vara Forming ryp V4. We get or From (1), 9.64 in = Xn + yw + hg: 13? =(-78) +2 +(-4), c= 9.6 in. tap =(-78in)i + (9 in)j -(4in)k vq = (-36in/s) vyavd Vat Van Where Vay = Oup Xt yp ran Va = ta (Ye +¥ Fun Va = Fon ¥a a (-1.81 + 9.65 4k) - (vj) = (7.81 + 9.6] - 4k) -(-36k) 44 or vy = 1S ins vy = (15.00 in/s)jPROBLEM 15.199 Rod 4B of length 13 in, is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown. Knowing that collar B ‘moves away from point D at a constant speed of 64 in./s, determine the velocity of collar A when b = 6.24 in. SOLUTION Geomenry. Fig = Xp + y2, + Zug: 13? = (-78) +c? +(-6.24)", c= 8.32 in. Typ = (-7.8in.)i + (8.32 in.) j- (6.24 in)k Velocity of collar B. Vp = (64inJs)k Velocity of collar A. vy vd Va = Vet Vago, WHEE Vp = OypX Fyp Noting that vigp is perpendicular to ryg, We get Faq Yar Forming tyy v4 we get Tan Va= Fan -(¥a + Van) = "una + Fae Van or Tun Va = "an "Ye @ From (I), (7.81 + 8.32) ~ 6.24k) -(v,i) = (7.81 + 8.324 ~ 624K) - (64k) 8.32v, =-39936 or vy = ~AB ins V4 = ~(48.0 in/s)j-€” PROBLEM 15.200 Rod AB of length 500 mm is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown. Knowing that collar B moves toward point £ at a constant speed of 200 mmvs, determine the velocity of collar A as collar B passes through point D. SOLUTION Geometry. Gus +2, + Zip: OS? =(-0.24) + yy + (04) Yan = 018m, — egy = (-0.24m)i + (0.18m)j - (0.4m)k toe = (0.24m)i-(0.18m)j, fey = ¥(0.24) + (-0.18)" = 03m Toc Velocity of collar B. ‘a= Koray y= (0200) 228= 048) (06s) ~ (0412 m/)4 Velocity of collar A va = vd Va= Vet Von Where Voy = Oy Fup Noting that v yp is perpendicular to ryp, We get Tay °Vpi4 = 0. Forming rqp-¥,. we get Fun ¥a = Fan (Vo + ¥en) = Tan Vo + Fan“ Voe or Fen V4 = "as" ¥o wo From (1), (-0.24i + 0.18] - 0.4k) - (vj) = (-0.24i + 0.18) - 0.4k) - (0.161 - 0.12j) 0.18v, = (-0.24)(0.16) +(0.18)(-0.12) or v4 = -0.333 mis ~(0.333 mvs) j-4' PROBLEM 15.201 Rod AB of length 500 mm is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown. Knowing that collar B moves toward point E at a constant speed of 200 mm/s, determine the velocity of collar 4 as collar B passes through point C. SOLUTION Geometry, ip = he +925 + hp: 05? = 0+ yy + (04F Yen = 03m, — typ =(03m)j-(04m)k Fc = (0.24m)i~ (018m), lop = (0.24) + (0.18) = 0.3m, Velocity of collar B. we (0.200) 028018) = (0.16 mvs)i — (0.12 m/s) Velocity of collar A ward Vg = Vet ¥en Where Veg = Ogg X Typ Noting that vp is perpendicular to typ, We get Fp4* Vay = 0- Forming Fyp V4, We get Kan -Va = Fan -(Va + Van) = Tune + an Van or Tan -Va= Fan “Va a From (1), (0.3j - 0.4k) -(v,j) = (0.35 - 0.4k) - (0.164 - 0.12)) 0.3v, = (03)(-0.12) v4 = -0.12 m/s v4 =~(01200 ms) j 4PROBLEM 15.202 Rod AB of length 15 in. is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown, Knowing that collar B ‘moves toward point D at a constant speed of 2.5 in./s, determine the velocity of collar when ¢ = 4 it SOLUTION Geometry =k rp =(4Sin)i re = (Bink Tye = 8p ~ Fe = (4.5in)i-(9in)k op = y (4.5) + (-9)° = 10.0623 in. cle) SOS 98) «int (ain Tae = Tp =o + Me = 9K +21 4k = (2in.)i + (Sin ke Fan = ta~ a = (Zin) i+ (yin) j~ (Sin) Fig = Hp + 9? + zap: 1S? = (2) +7 +5)? Din.) + (14 im) j - (5 in.) yeldin, rye Velocity of collar B. ve = mee 2.5)(4.51 - 9K vp = 2V451=9) _ (111803 in/5)t — (2.23607 ins) 10.0623 Velocity of collar A vad Vas VetVan, where Vyp = O49 X tug Noting that vy» is perpendicular to ryp, We Bet ty * Vag = 0- Forming Fp - V4. We get Fan" Va= tan (Yo * Van) = tan’ Va + Fas Yan = Tap Va = "ao" Yo a) From (1), (-2i + 14) ~ 5k) - (vi) = (21 + 14) ~ 5k) - (1.118034 - 2.23607k) 144 = (-2)(1-11803) + (-5)(-2.23607) ory, = 0.63888 in/s V4 = (0.639 inJs)j 4PROBLEM 15,203 Rod AB of length 15 in. is connected by ball-and-socket joints to collars A and B, which slide along the two rods shown. Knowing that collar B ‘moves toward point D at a constant speed of 2.5 in/s, determine the velocity of collar A when 6 in. SOLUTION Geometry. r=) ty =(4Sin)i re = (9in)k Noe =%p— Fo =(4.Sin)i-(9in)k ep = (4.5) + (-9)° = 10.0623 in, e(Foc) _ 6(4.51-9k) Tc = = EE) 23 rc = 5 (in, By = xy t P+ chy 1S y= 143875 in, egg = (Bin) + (14.3875in) j ~ (3m) Velocity of Collar B. va" (2.8)(4.5i-9k) ‘ = PANGS) = (1.11803 n/s)i - (2.23607 in, 0 i — (2.23607 ins) Velocity of Collar A. va vad Va=Ve+Vapy Where Vay = Oca Typ Noting that vyg is perpendicular to rp, we get Taq * Vag = 0. Forming typ V4» We get Kan -Va = Fan “(Va + Van) = Fane + Faw Yan or Kap -Va= Fan -Yo a From (1), (-3i+ 1438754 — 3k) - (v4) = (-34 414.3875) - 3k) - (1.118031 - 2.236073) 14.3875v, = (-3)(1.11803) + (-3)(-2.23607) or v4 = 0.23313 ins v4 = (0.233 in/s)j” PROBLEM 15.204 ‘Two shafts AC and EG, which lie in the vertical yz plane, are connected = by a universal joint at D. Shaft AC rotates with a constant angular velocity @ as shown. Ata time when the arm of the crosspiece attached to shaft AC is vertical, determine the angular velocity of shaft EG. SOLUTION Angular velocity of shaft AC. Oe = Ok Let aj be the angular velocity of body D relative to shaft AD. Angular velocity of body D. Op = Ok +04 Angular velocity of shaft EG. pg = @(€0820°k - sin 20°)) Let ai be the angular velocity of body D relative to shaft EG. Angular velocity of body D. ©p = @y(c0520°k — sin20%}) + «41 quate the two expressions for «y and resolve into components. i: O= a a J: @ = -@, sin20° @ kK: @ = @;c0s20° @) ei = Ss20° 4 From (3), oO" PROBLEM 15.205 15.204 assuming that the arm of the crosspiece attached to horizontal. SOLUTION Angular velocity of shaft AC. 4c = Ok Let i be the angular velocity of body D relative to shaft AD. Angular velocity of body D. Op = Ok + Ob Angular velocity of shaft EG. pq = @(£0520%k ~ sin20°j) Let @,2. be the angular velocity of body D relative to shaft EG. Where 2 is a unit vector along the axis the clevis axle attached to shaft EG. 7 2. = 00520} + sin20%k eh = 0,0520°j + 0, sin20°K %e Angular velocity of body D. Op = Oyg +O @y = (0, ¢0820° ~ «, sin20°)} + («,sin20° + @,60520°)k Equate the two expressions for «and resolve into components. isa =0 ao J: 0 = © c0s20° ~ @, sin20° @ k: @ = @4sin20° + @,c0s20° ro) From (2) and (3), SatomiPROBLEM 15.206 Rod AB of length 275 mm is connected by a ball-and-socket joint to collar A and by a clevis connection to collar B. Knowing that collar B moves down at a constant speed of 1.35 mis, determine at the instant shown (a) the angular velocity ofthe rod, (6) the velocity of collar. SOLUTION Geometry. Determine the position of collar 4. 5, = 24k fy = Xgl + ypd = (150mm)i + (50 mm)j Fp = 24k ~ 150i ~ 50} Length of rod AB: Ug = 275° = 23 - 150? - 50? Solving for 24, 24 = 225mm Tq = (-150 mm)i ~ (50mm); + (225 mm)k = (-0.15 m)i ~ (0.05 m); + (0.225 m)k Velocity. 35m/s)j, v4 = vk Angular velocity of collar B. y= 9) ‘The axle ofthe clevis at B is perpendicular to both the y-axis and the rod AB. ‘A vector along this axle is P= ixtep P = 5% up = ix (150i ~ 50j + 225k) = (225 mm)i - (150 mm)k p = 225? +150? = 270.42 mm Let 2 be a unit vector along the axle. a = © = 0.832051 + 0.55470k P Let «, = @,) be the angular velocity of rod AB relative to collar B. ©, = 0.832050,i + 0.554700,k Angular velocity ofrod AB. © = 0p +0, © 4p = 0.8320S0,i + 09) + 0.554700 V4 = Vp + yy XE yp i i k 135) +/0.8320S0, @, 0.554700, 01S -0.05 0.225PROBLEM 15.206 CONTINUED Resolving into components, i: 0=0+0.225e5 +0.0277350, 0 =-135 + 02704160, k: vy = 040.1509 -0.0416030, From (2), @, = ~4.9923 rads From (1), @g = 0.61539 rads (@ Angular velocity of rod AB. 4g = (0.83205)(~4.9923)i + 0.615394 + (0.55470)(-~4.9923)k (©) Velocity of collar A. From @), vg = (0.15)(0.61539) - (0.041608)(~4.9923) = 0.3000 mvs @ @ @) ~(4.15 rad/s)i + (0.615 rad/s) j - (2.77 rad/s)kPROBLEM 15.207 Rod BC of length 840 mm is connected by a ball-and-socket joint tc collar B and by a clevis connection to collar C_ Knowing that collar £ ssl_ moves toward 4 at a constant speed of 390 mm/s, determine at the instant L shown (a) the angular velocity of the rod, (b) the velocity of collar C. t- ‘SOLUTION Geometry. Ye = Xci + (640 mm)j, ry = (480 mm) + (200 mm)k Lyp = V480" + 200 = 520 mm icl + (160 mm) j ~ (200 mm)k Length of rod BC. Hie = 840? = x3 +160? + 2007 Solving for x, Xe = 800 mm Fojp = (800 mm) + (160 mm) j - (200 mm)k 390, Velocity. Va = Sop (480) ~ 200k) = (~360 mm) j~ (150 mms) Vo = veh Angular velocity of collar C. ¢ = oi The axle of the clevis at C is perpendicular to the x-axis and to the rod BC, A vector along this axle is P=ixtop = 1x (800i + 160j ~ 200k) = (200 mm) + (160 mm)k p = 200? +160 = 256.125 mm Let 2 be a unit vector along the axle. a= © = 0.78087) + 0.62470k ? Let @, 1A. be the angular velocity of rod BC relative to collar C. 780870, j + 0.624700, k Angular velocity of rod BC. yc =O +0, yc = Och + 0.780870, j + 0.624700, Vo = Vp + Oc * Kop i i k 360j-150k +| a 0.78087, 0.624700, 1300160 200PROBLEM 15.207 CONTINUED Resolving into components, Bue 256.1260, a E Kk: 0 = -150 + 1600, - 624.700, @) Solving the simultaneous equations (1), (2), and (3), Ge = 1.4634 rads, 0, (@) Angular velocity of rod BC. 360 + 2000 + 499.760, @ 0.13470 rads, vo = -34.50 mm/s @ac = 1.46344 + (0.78087)( 0.13470) j + (0.62470)(0.13470)k gc = (1.463 radls)i + (0.1052 rad/s) j + (0.0841 rad/s)k (6) Velocity of collar C. Yo = -(34.5 mm/s)i 4" PROBLEM 15.208 For the mechanism of the problem indicated, determine the accel of collar 4. Mechanism of Prob. 15.202 SOLUTION Yh tp =(45in)i re = (Sin) Tey = (45) + (-9)° = 10.062: Geometry. fy =o + Fac = 9 + 24~ 4 = (2in)i + (Sine Typ =%4 7 ¥p = 2+ vi Ske Wig = yp +? + hp: AS? = (-2) +97 +(-8)° yeti, ryp = (2 +(I4in) § - (Sink Velocity of collar B. ve =e leo yp — ZVAS1=9K) _ (11803 nh — (2.23607 n/a) 10.0623 Velociy of collar A vaevd Vee Vet Ven WHEE Vigp =O ay X tap Noting that Viyp is perpendicular to ry», we get Forming ryp'¥ 4, We get Tys'V4 = Fan'(Vo + Van. or Fae Va = Fee wo From (1), (-2i + 14 - 5k)-(v4i) = (-2i + 144 = 5k)-(1.11803i - 2.23607) Lay, = (-2)(1.11803) + (-S)(-2.23607) or vy = 0.63888 in/sPROBLEM 15.208 CONTINUED Relative velocity Ves =¥4-Vp Van = (0.63888 in/s)j~ (1.11803 inJs)i + (2.23607 inJs)k (ves)? = (0.63888)* + (-1.11803)? + (2.23607)* = 6.6582 (inJs)? Acceleration of collar B a, =0 Acceleration of collar A. nad By = 8g + Agy, where yp = Ogg XT yp + Og Vox Noting that oy «rap is perpendicular to ryp, we get Fup yp X Fup =O We note also that gn ¢5 * Van = Van"Fun * Ou Tos, var'tan = 0 (aa) = (008) Forming ryp-a,, we get Tye = Fan'(84 + Awe) = toa + 8y0'8ye or Kapa = tan Ma ~ (Yun) ® From (2), (21+ 14§- 58) - (ay) = 0 6.5582 May = -6.6582 a, ~ -(0.476 inds*)j€PROBLEM 15.209 For the mechanism of the problem indicated, determine the acceleratio of collar 4 ts ‘Mechanism of Prob. 15.203 SOLUTION Geometry. ry = yh ty =(45in)ji re = (9in. = y(4sy +(-9) )_ 645i 5) - (sini -(6in.)k (ink ini + (3in)k 4— tp = 3+ yf 3ke Ik =P yr HF y = 14.3875 in, ryy = (~3in.)i + (14.3875 in.) j ~(3in.)k " Velocity of collar B. oe _ 2.5)(4.51-9k) ae 10.0623 1.11803 in/s)i — (2.23607 inJ/s)j Velocity of collar A. vaaud Vp = Vet Vane WHEE Vg = Oyy X Fey Noting that v yp is perpendicular to rug, we get Twa'¥oa = Forming rps We get rae¥s * ter (' + Ven) = Fes-Ve + PenVaw or Tua Va = Tan'Vo ( From (1), (-3i + 14.3875) - 3k) = (-3i + 14.3875) ~ 3k)-(1.118034 ~ 2.236073) 14,3875v, (-3)(1.11803) + (-3)(-2.23607) or v4 = 0.23313 ins Relative velocity. Van =¥a-Vo Vay = (0.23313 ins) ~ (1.11803 in/s)i + (2.23607 inJ/s)k (0.23313)° + (-1.11803)' + (2.23607)" = 6.30435(in./s)° (venPROBLEM 15.209 CONTINUED Acceleration of collar B. ay =0 Acceleration of collar A ay =ag 8g = Ay + 8yp, Where — yy = Gay X Typ + Ogg X Van ‘Noting that 0. ,g x typ is perpendicular to ryp, we get Top 4g X Fyy = 0 We note also that eae ere ea = Vue Van 2 2 Then, Funan = O(a) = -(van) Forming ryp a4, we get Typ'84 = Tya-(4 + Ayn) = Fyp'8p + Typ Bap 2 or Tuna = Fun'Ae ~ (Ya0) @ From (2), (-Bi + 14.3875) - 3k)-(a4i) = 0 — 6.30435 143875a, = ~6.30435 438 inis?)jPROBLEM 15.210 For the mechanism of the problem indicated, determine the acceleration of collar 4. Mechanism of Prob. 15.198 SOLUTION Geometry. Ug = Xin + Yin + Fy: 13? = (-78) +2 +(-4), c= 9.6 in, Velocity of collar B. vy = (-36inJs)k Velocity of collar A. va = vad Yan Vet Van Where Vay = Oqy XT yy Noting that v yp is perpendicular to ryp, we get Fna¥og = 0 Forming Fyp-¥. We get anVa = tan-(¥a+ Van) = tanVe + tae Van or Taa'Va = Fan'Vo a From (1), (-7.8i + 9.6j - 4k)-(v4j) = (-7.81 + 9.6] - 4k)-(-36k) 9.6v,=144 or v4 = 1Sinds Relative velocity. Van =¥4-Yp Vp = (ISin/s)j + (36in/s)k — (vgp)" = 15? +36 = 1521(in/s) Acceleration of collar B. a, =PROBLEM 15.210 CONTINUED Acceleration of collar A. ayaa y= Ay +My, Where Ayp = yy X typ + Oxy Van Noting that a 4p x typ is perpendicular to ryp, We get Typ'Ogp X Typ = 0 We note also that Typ '@an * Van = Vae'Tae X Op Then, ya's = 0- (vas) = ~(vaa) Forming ryp-a,, We get Top'8g = Typ '(A4 + Aen) = FonMs + Tun Ban oe Fata = taste ~ (Yea) ® From (2), (-1.81 + 9.65 4k)-(a,i) = 0 -1521 (158.4 inJs?)j-4 aye4 PROBLEM 15.211 of the problem indicated, determine the acceleration Mechanism of Prob. 15.199 SOLUTION Geometry. in = Xun + Yup + 249: 13? =(-78) +02 + (6.24), ¢ = 8.32in, Tuy = (-7.8in)i + (8.32 in) j ~ (6.24in.)k Velocity of collar B Vn = (64inds)k Velocity of collar A vaavad Va=VetVem Where Vyg = @yyX typ ‘Noting that v yx is perpendicular to ryg, we get Tea¥ona = 0 Forming ryy-¥,, We get Fen-Va = Fan(Ve + Van Va + Fen Van or FanVa = FaaVe a From (1), (-7.8i + 8.32} - 6.24k)-(vj) = (7.81 + 8.32) - 6.24k)-(64k) 832v, = 399.36 or vy = 48 ins Relative velocity. Yaa = Ya Vay = (-48in/s)j —(64in/s)k (vy) = 48 + 64 = 6400(in/s)* Acceleration of collar B. a, =0PROBLEM 15.211 CONTINUED Acceleration of collar A. ay sag % + Ayp, where ayy = yp X Typ + Due Van Noting that 04» x typ is perpendicular to ry», we get Lan * Taig = 0 ‘We note also that Typ'@qp * Van = Van'Fae Xap Then, Forming ryp-a, we get @ From (2), (-7.8i + 8.32) - 6.24k)-(a4j) = 0 - 6400 832a, = ~6400 ag = -(769 ins?) 4PROBLEM 15.212 For the mechanism of the problem indicated, determine the acceleration of collar 4. Mechanism of Prob. 15.196 SOLUTION Geometry Fac =(-0.16m)k, yp = (-0.5m)i + (0.4m)j (0.16 m)k Velocity at B. Vp = Oh * tye = 31% (-0.16k) = (0.48 mis Velocity of collar A. Yet Von where — Vey = Ogp typ Noting that vy» is perpendicular to ry, we get TwaYp Forming typ-V,. we get Fon = ton (Ye + Van) = FosYe + Fea Van or Fura = FuaVe o From (1), (-0.5i + 0.4j ~ 0.16k).(v,j) = (-0.5i + 0.45 ~ 0.16k)-(481) O4v,=-024 or vy, = 06 ms Relative velocity. Vue =V¥4 Vp Van = (-O.6mis)j-(48ms)i (ve) = (-0.6)° + (0.48)* = 0.5904(mvs)? Acceleration at B. ay = oj Vy = 3) x 048i (1.44 mvs?)Acceleration of collar A. PROBLEM 15.212 CONTINUED asad Ag = Mp typ, Where — yy = Oy X Kap + Oay * Van Noting that a 4» x typ is perpendicular to rp, we get Kae ae * Ey We note also that ‘Then, Forming typ a4, We get or From (2), Typ'@4a * Van = Van tan Xun = V0 Van (vs) Fang = Fun'(84 + Aun) = Huo'8s + Fao 8an Funan = 0-(Yen Fun, = Fonts ~ (Yan) @ (-0.51+0.4j-0.16)(a,) = (-05i + 0.4 - 0.16k)-(-1.44K) - 0.5904 04a, = 0.2304 ~ 0.5904 0.900 mis?)PROBLEM 15.213 For the mechanism of the problem indicated, determine the acceleration of collar 4. ‘Mechanism of Prob. 15.197 ‘SOLUTION Geometry Apc = (0-16 m)k, egy = (0.24 m)i + (042 m)j + (0.32 m)k Velocity at B. Vg = Oy) tac = 10} (-0.16k) = ~(1.6 m’s)i Velocity of collar ved Vr = Vat Va where Vag = Og top Noting that vy» is perpendicular to ry», we get Fu¥py =O Forming yy -v ,.We get Fan 'Va = Fan (Va + Van) = Can Ys + Fan Van or Fon Va = Can Va o From (1), (-0.241 + 0.424 + 0.32k)-(v,j) = (-0.241 + 0.42) + 0.32k)-(-1.6i) 0.42, = 0384 or 91428m/s vy = (0.91428 mis)i Relative velocity Yan = Van Vo (0.91428 mvs)j + (1.6 ms) (Yea) = (0.91428) + (1.6)° = 3.3959(mvs) Acceleration of point B Ay = hx Vp = 10) x (-1.64) = (16 mis? Acceleration of collar A asad et Mune Where yy = Wag X Fup + Oy X Van Noting that a4» * ry» is perpendicular to r,,we get Fen Gan FunWe note also that Then, Forming ryp-a,,we get or PROBLEM 15.213 CONTINUED Typ'@ 4p * Van = Vantaa Xan us) (van) = eee Tun Ban er'ban = 0-(va8) tanta = Fae (Ute Fup'8 = ¥y0'Ay ~ (Van) @ From (2), (0.241 + 0.425 + 0.32k)-(a,)) = (0.24% + 0.42) + 0.32k)-(16k) ~ 3.3959 042 ay = 5.12 3.3959 10 mis*)j <PROBLEM 15.214 ‘The bent pipe shown rotates at the constant rate @, = 10 rad/s. Knowing that a ball bearing D moves in portion BC of the pipe toward end C at a |, ~~ ea__ constant relative speed u = 2 fU/s, determine atthe instant shown (a) the velocity of D, (6) the acceleration of D. SOLUTION With the origin at point 4, tp = (Bin)i + (12 in)j - (6 in) » Ige = V8R+E = Let the frame Axyz rotate with angular velocity 2 = ai = (10 rads)i Top = (8 in.)i ~ (6 in, in. @ Vey = 1x tp = 101 x (Bi + 12§ - 6) = (60 inJs)j + (120 in/s)k u=2fUs=2Ain/s, — Vpp = aa ~ 6k) = (19.2 inJs)i ~ (14.4 inJs)k Vp = Vo + Vor = (19-2 inds)i + (60 in/s)}j + (105.6 in/s)k Velocity of D. Vp = (1.600 fi/s)i + (5.00 fs) j + (8.80 fVs)k () Ay = 2x vpy = 101 x (60j + 120k) = -(1200 in/s*)j + (600 ins?) Ape =0 20x Voyp = (2)(10i) x (19.25 ~ 14.4K) = (288 ins?) j Io: + App +20 Vip = 12 in/s*)j + (60 in/s*)k Acceleration of. ap =-(rs008?)j+ (s0.00)kPROBLEM 15.215 ‘The bent rod shown rotates at the constant rate @ = 5 rad/s and collar C ] moves toward point B at a constant relative speed u = 39 in/s. Knowing, + ~ su that collar C is halfway between points B and D at the instant shown, il determine its velocity and acceleration. SOLUTION Geometry. ty = (I44 in), (6:n.)i + (20.8 ink typ = —(6in)i + (144 in)j-(208in)k py = VOR +144 + 208" te Mes 4p) = (3in)E-+(7.2 in) § + (10.4 in) Let frame Axyz rotate with angular velocity Q = ak = (5 rad/s)k Velocity Analysis: = 39inds Veo = Dx re = Sk (31+ 7.2} + 10.4k) = ~(36 inJs)i + (1S in/s)j uw, _39 (-61 + 14.4) - 20.8k) = -(9 in (21.6 in/s) j - (31. Vo = Ve + Vor Acceleration Analysis. agp = 0 20x voy = (2)(Sk) x (-9i + 21.6] ~ 31.2k} ~(216 ins?) ~ (90 ins?) 2+ 8p + 20% Vop ~(291in/s?)t~(270 iniPROBLEM 15.216 ‘The bent rod EBD rotates atthe constant rate « = 8 rad/s. Knowing that collar A moves upward along the rod at a constant relative speed ‘u = 600 mms and that @ = 60°, determine (a) the velocity of 4, (b) the acceleration of A. SOLUTION Let frame Oxyz rotate with angular velocity ‘Note that point B does not move. Geometry. Fup = psinOi+ p(l—cos0), — p=120mm, = 60° ry = (103.923 mm)i + (60 mm)j ‘Motion of coinciding point A’ Vg = @X Fyg = Six (103,923% + 60}) = (480 mm/s) k 0+ 8i x 480k By = AX Fyp + OX Vy (3840 mm/s’) Motion relative to the frame. > vpe = u(cos6t+sindj), w= 600 mm/s pp = (300 mm/s) i + (519.62 mm/s) j P 2 v% agp = “(-sindi + cos6j) > ? 8 8 gp = ~(2598.1 mms” )i + (1500 mmis*)j 8 Coriolis acceleration. 8¢ = 20 Vpp ‘Ac = (2)(8i) x (300i + 519.62)) = (8313.9 mmvs")k (a) Velocity of A a + Var v4 = (300 mnvs)i + (519.62 mm/s) j + (480 mm/s)k v4 = (0.300 mvs)i + (0.520 mi/s)j + (0.480 mvs)kPROBLEM 15.216 CONTINUED (8) Acceleration of A. Ag =e + Bye +c (2598.1 mois?) ~ (2840 mas) + (8913.9 mms?) 60 mis*)i ~ (2.34 mvs?) j + (831ms")kPROBLEM 15.217 “The bent rod EBD rotates atthe constant rate «, = 8 rad/s. Knowing that collar A moves upward along the rod at a constant relative speed u = 600 mm/s and that @ = 120%, determine (a) the velocity of A, (b) the acceleration of 4. SOLUTION Let frame Oxy2 rotate with angular velocity 2 = wi = (Sradis)i. Note that point B does not move. Geometry. Tyg = psindi+ p(l—cos0)j, 9 =120mm, = 120° = (103.923 mm)i + (180 mm) j Motion of coinciding point Vg = © Fyp = Six (103.9231 + 180}) = (1440 mm/s) k ae =x tgp $0% vg = 0+ 81x 1440K = (11520 mms!) Motion relative to the frame. > Vgp = u(cosdi+sindj), wv = 600mmis v “ap = ~(300 mmvs)i + (519.62 mm phe Ver = ~(300 mms) + ( s)i 8 Coriolis acceleration. a, = 20% Vip a, = (2)(81) x (~300i + 519.62) = (8313.9 mmv/s*)k (a) Velocity of A Va = Ve + Var vv, = ~(300 mm/s)i + (519.62 mmis)j + (1440 mmv/s)k v= (0.300 mi/s)i + (0.520m/s)j + (1.440 mvs)kPROBLEM 15.217 CONTINUED ») Acceleration of A. Ay = Ag + Ayr +a, a= -(2598. mes!) ~ (13020 mans + (23139 mm) 4 = ~(2.60.m/s*); — (13.02 m/s?) j + (8.31m/s*)PROBLEM 15.218 A square plate of side 360 mm is hinged at 4 and B to a clevis. The plate rotates at the constant rate @, = 4 rad/s with respect to the clevis, which itself rotates at the constant rate «, = 3 rad/s about the ¥ axis. For the position shown, determine (a) the velocity of point C, (b) the acceleration of point C. SOLUTION Geometry. Fe = (0.36 m)(c0s20% ~ sin 20°}) Let frame Oxy rotate about the y axis with angular velocity © = @,j and angular acceleration . ‘Then, the motion relative to the frame consists of rotation with angular velocity @, = ok and angular acceleration « = 0 about the z axis @ Vc = x re = 34 (0.36c08 20° ~ 0.36sin 20") = -1.08c05 20" Vo = ©: X Fe = 4k x (0.36608 20° ~ 0.36sin 20°}) = 144sin 20° + 1.4c08 20% Vo = Vor + Yop = 144 sin 20°F + 1.44¢0820°j ~ 1.08.05 20% ¥c = (0.493 mis)i + (1.353 mis) - (1.015 m/s)k ® = Qx ve. = 3x (-1.08c05 20°) = -3.24.c0820% 0, x Voip = 4k x (1.44sin 20% + 1.4005 20°)) 5.16 cos 20% + 5.76sin 20°} 200 Voor = (2)(33) x (1-44sin 20° + 1.44.00820°}) = -8.645in 20° Ag = Ae + AGy + 20% Vor = ~(3.24 + 5.76)cos20°I + 5.76sin 20°} ~ 8.64sin 20° ac = -(846 ms") + (1970 ms")j (2.96)PROBLEM 15.219 A square plate of side 360 mm is hinged at 4 and B to a clevis. The plate rotates at the constant rate @, = 4 rad/s with respect to the clevis, which itself rotates at the constant rate «@, = 3 rad/s about the Y axis. For the position shown, determine (a) the velocity of comer D, (b) the acceleration of comer D. SOLUTION Geometry. £p = (0.36 m)(cos 20° - sin 20%j) + (0.180 m)k Let frame Oryz rotate about the y axis with angular velocity © = a,j and angular acceleration © = 0. ‘Then, the motion relative to the frame consists of rotation with angular velocity @, = ok and angular acceleration a; = 0 about the z axis. @ Vpy = Wx ry = 3) x (0.36c0520% ~ 0.36sin 20°j + 0.180k) = 0.5404 ~ 1.0805 20% Viyp = ©: X fp = 4k x (0.36c0820% ~ 0.36sin 20°) + 0.180k) = 1.44sin20% + 1.44c0820°}) Vp = Vp + Vive = (0-540 + 1.44sin 20°)i + 1.4405 20°) ~ 1.08c0s 20°k Vp = (1.033 m/s)i + (1.353 m/s) - (1.015 ms)k 6) Ay = Ox Vpy = 3) (0.5401 ~ 1.08c0820°k) = -3.24c0820° ~ 1.62k Ay =O, * Viyp = 4k x (L.A4sin 20° + 1.44008 20°)) $.76c0s 20% + 5.76sin 20%j 20 Vinge = (2)(3i) x (1:44sin 20% + 1.44.c0820°)) = -8.64sin 20% Ay = Ay + App +20 Voy ~(3.24 + 5.76)cos20°% + 5.76sin 20°j — (1.62 + 8.64sin 20°)k ay = (8:6 ms!) + (L970) j— (458s!)PROBLEM 15.220 ‘The rectangular plate shown rotates at the constant rate @, = 12 rads with respect to arm AE, which itself rotates at the constant rate rad/s about the Z axis. For the position shown, determine (a) the ‘velocity of comer B, (b) the acceleration of comer B. SOLUTION Geometry. With the origin at 4, Let frame Axyz rotate about the y axis with constant angular velocity 2 = «jk = (9 rad/s)k. Then, the motion relative to the frame consists of rotation about the x axis with constant angular velocity 12 rad/s)i Motion of coinciding point B’. Vp = 2x ty = 9k x 6.15} = ~(60.75 indi ay = 0X1, + Oxy = 0+ 9k x (60.751) = (546.75 in/s*)j Motion relative to the frame. Var = ©: X ty = 12k x 6.753 = (81 in/s)k App =) %tp +O) * Var = 04 12x 8k = -(972in/s?)§ (a) Velocity of point B. Va = Ve + Vor Vp = ~(60.8in/s)i +(81.0in/s)k Coriolis acceleration. 2QX Vp 20. Vpp = (2)(9k) «81k = 0 (6) Acceleration of point B. +My + 20% Vag ay = -(1518.75 nt?) (126.6 tus")

Solucionário Mecânica para Engenharia - Dinâmica - Beer - 7 Edição - Capítulo 15

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Solucionário Mecânica para Engenharia - Dinâmica - Beer - 7 Edição - Capítulo 15

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