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Problem 2.1
Given Information:
Gear A (80 mm diameter) has a constant rotational speed of 145 rpm
clockwise.
Required:
What is the rotational speed and direction of gears B (200 mm diameter) and C (120mm diameter)?
Solution:
Consider the contact point 1 where gears A and B meet
80
145 58
200
Similarly, consider the contact point 2 where gears B and C meet
200
58 96.67
120
58
Answer:
96.67
Problem 2.2
Given Information:
The disk shown has a radius of 4 inches [101.6 mm] and rotates
about the fixed point O at a constant rate of 75 rpm clockwise.
Required:
Determine the magnitude and direction of the velocities of points A and B.
Solution:
The velocity of disk at point A is
2
75
60
0̂ ̂ ̂ 0̂
2
75
60
0̂ ̂ ̂ 0̂
75
̂ ̂
30
75
4̂ 3̂
30
23.56 ̂ 31.42 ̂ ⁄
The velocity оf disk at point B is
75
̂ 70° ̂ 70° ̂
30
4 70° ̂ 3 4 70° ̂
53.09 ̂ 10.76 ̂ ⁄
39.27 ;
53.16° ↗
Answer:
54.17 ;
11.46° ↘
Problem 2.3
Given Information:
The disk shown has a radius of 4 inches [101.6 mm] and rotates
about the fixed point O at a constant rate of 75 rpm clockwise.
Required:
Determine the magnitude and direction of the normal and tangential accelerations of point A.
Solution:
The normal acceleration of point A is , , where is the
⁄
unit vector that indicates the position of point A w.r.t the fixed point
O. This unit vector is equal to
⁄ 4̂ 3̂
0.8 ̂ 0.6 ̂
⁄ 5
Moreover, from problem 2.2, 23.56 ̂ 31.42 ̂ ⁄ ⇒
39.27 ⁄ . Thus, the normal acceleration of point A is
.
, 0.8 ̂ 0.6 ̂ 246.7 ̂ 185.06 ̂ ⁄
⁄
In addition, the tangential acceleration of point A is equal to zero because the disk rotates about point О
with constant angular velocity. That is, the angular acceleration of the disk is equal to zero.
, 308.4 ⁄ @ 36.88° ↘
Answer:
, 0
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Problem 2.4
Given Information:
At the instant shown, the disk shown has an angular velocity of 10
rad/s clockwise and is accelerating at a rate of 1.4 rad/s2.
Required:
Determine the velocity and acceleration of point B.
Solution:
The acceleration of point B w.r.t fixed point О is
, ,
where is the unit vector that indicates the position of point B w.r.t
the fixed point О, and is equal to
4 70° ̂ 3 3 70° ̂
6.970
0.199 ̂ 0.98 ̂
Furthermore, the velocity of point B w.r.t the fixed point О is equal to
10 4 70° ̂ 3 3 70° ̂
67.7 ̂ 13.7 ̂ ⁄ ⇒ 68.98 ⁄
Substituting the speed and unit vector of point B w.r.t the fixed point О into the acceleration equation
68.98 ⁄
1.4 1.37 ̂ 6.76 ̂ 0.199 ̂ 0.98 ̂
6.90
9.464 ̂ 1.918 ̂ 137.23 ̂ 675.8 ̂ ⁄
127.77 ̂ 677.72 ̂ ⁄
Answer: 68.98 ⁄ @11.46° ↘
689.7 ⁄ @ 1185.3°
Problem 2.5
Given Information:
At the instant shown the 5 inch radius gear A rotates
counterclockwise at a rate of 8 rad/s and is decelerating at
a rate of 2.3 rad/s2. Gear A drives the 8.4 inch radius gear
B. The 5.5 inch radius pulley C is on the same shaft as
gear B. A belt around pulley C drives pulley D, which has a
9 inch radius.
Required:
What is the rotational velocity and acceleration of pulley D?
Solution:
Let point 1 be intersection of gears A and B. The speed of gear A at
point 1 is equal to the speed of gear B at the same point
where r represents the radius of each pulley. Moreover, pulley C
rotates with the same speed as gear B. Substituting this speed and
the radii values yields
5
8 ⁄
8.4
4.762 ⁄
Furthermore, because a belt connects pulleys C and D, the pulleys
have the same speed as the belt at all points of contact. Thus
5.5
4.762 ⁄
9
2.91 ⁄
and by inspection, pulley D rotates in the clockwise direction. Similarly, the magnitudes of the tangential
accelerations of gears A and B at contact point 1 are equal
, ,
5
2.3 ⁄
8.4
1.37 ⁄
Also, because pulley C is attached to gear B, they both have the same angular acceleration. Similarly,
pulleys C and D have the same angular acceleration because the belt connects them
1.37 ⁄
Note that the negative sign means pulley D is decelerating.
2.91 ⁄
Answer:
1.37 ⁄
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Problem 2.6
Given Information:
The hexagon shown is rotating about point O at a speed of 5.6
rad/s clockwise and accelerating at a rate of 2.7 rad/s2.
Required:
Determine the point along the perimeter that will have the highest velocity magnitude. Calculate the
velocity and acceleration at that point.
Solution:
Let point Q be the point along the perimeter of the hexagon
that has the highest speed. Because the speed of any point
along the perimeter of the hexagon is directly proportional to
its angular speed and the distance to that point from pivot
point О, point Q will be located at the maximum distance
from point O. That is, at either of the opposite vertices of the
hexagon
2 180° 6 2 180°
120°
6
Applying the law of cosines to find the distance between opposite vertices,
4
120°
4 6.928
120° 90°
To find the distance from point О to point Q
⁄ 2 6.928 2 7.211
To calculate the velocity of point Q, the position vector ⁄ is required
⁄ ⁄ ̂ ̂
where 73.89°. As a result,
⁄ 7.211 73.89° ̂ 73.89° ̂ 2 6.93 ̂
and the velocity of point Q is
⁄
38.80 ̂ 11.21 ̂
To find the acceleration of point Q
, ,
cos sin ⁄
⁄
. /
cos 73.89° sin 73.89°
.
2.7 2̂ 6.93 ̂
44.21 ̂ 222.9 ̂
40.4 / @ 16.11° ↘
Answer:
227.2 / @ 78.7° ↙
Problem 2.7
Given Information:
In the mechanism shown the 8 inch diameter gear A
turns at a constant speed of 1100 rpm clockwise and
drives the 20 inch diameter gear B. Attached to gear B
is a 15 inch diameter disk.
Required:
Determine the angular velocity of the connecting rod CD and the velocity of slider D for the instant
shown.
Solution:
First, determine the angular speed of gear B
8
1100
20
440
Then, determine the velocity of point C
2
440
60
7.5 cos 25° ̂ sin 25° ̂
313.2 ̂ 146.1 ̂ /
From trigonometry, can be found as follows
7.5 cos 25° 10
sin
30
34.05°
Then, determine the velocity of the slider at point D:
cos ̂ sin ̂
313.2 ̂ 146.1 ̂ / 30 cos 34.05° ̂ sin 34.05° ̂
313.2 16.8 ̂ 146.1 24.86 ̂
Because the slider moves in the horizontal direction, the vertical component of the velocity is zero
0 146.1 24.86
5.88 /
313.2 16.8
313.2 16.8 5.88 412 /
5.88 /
Answer:
412 / @ 180°
Problem 2.8
Given Information:
Continue Example Problem 2‐4 to determine the rotation speed of link 4 [BO4].
Solution:
From problem 2‐4
94.71 94.71 in
cos 24 vB 103.7
vB cos 24 s
in
103.7
v s
4 B
r4 7in
rad
Answer: 4 14.8 CW
s
Problem 2.9
Given Information:
The slider‐crank mechanism shown in has a constant crank (link OA)
rotation speed of 850 rpm clockwise.
Required:
Determine the velocity and acceleration of the piston (point B) at the instant shown.
Solution:
First, find the velocity of point A
cos ̂ sin ̂
where cos 68°, and
sin
2
sin 68° 850 3
60
288.01 /
Substituting the speed of point A to obtain its velocity
288.01 / cos 68° ̂ sin 68° ̂
107.9 ̂ 267.04 ̂ /
Then, find the velocity of point B
/
/ / cos ̂ sin ̂
107.9 ̂ 267.04 ̂ / 8 cos 68° ̂ sin 68° ̂
107.9 7.42 ̂ 267.04 3 ̂
Because the piston is constrained to move in the vertical direction only
0 107.9 7.42
14.54 /
Substituting the angular speed into the velocity of the piston equation
267.04 3 14.54 ̂ 310.7 ̂ /
Then, find the acceleration of the piston using the relative accelerations method
/ , , / , / ,
/ / /
89.01 / 89.01 / 3̂ 14.54 /
14.54 / 8 cos 68° ̂ sin 68° ̂
8 cos 68° ̂ sin 68° ̂
23134.8 7.42 ̂ 1569 3 ̂
Because the piston is constrained to move in the vertical direction only, the acceleration in the
horizontal direction is zero
0 23134.8 7.42
3117.9 /
As a result, the acceleration is
1569 3 3117.9 ̂
7784.7 ̂ /
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310 / @ 270°
Answer:
7784.7 / @ 90°
Problem 2.10
Given Information:
The slider‐crank mechanism is decelerating. At the instant shown
the crank is rotating counterclockwise at a speed of 640 rpm. It is
decelerating at a constant rate and comes to a complete stop in 1.2
minutes.
Required:
Determine the velocity and acceleration of the piston at the instant shown.
Solution:
First, find the velocity of point A at the given instant
cos ̂ sin ̂
where cos 68°, and
sin
2
sin 68° 640 3
60
216.9 /
Substituting the speed of point A to obtain its velocity
216.9 / cos 68° ̂ sin 68° ̂
81.23 ̂ 201.1 ̂ /
Then, find the velocity of point B
/
/ / cos ̂ sin ̂
81.23 ̂ 201.1 ̂ / 8 cos 68° ̂ sin 68° ̂
81.23 7.42 ̂ 201.1 3 ̂
Because the piston is constrained to move in the vertical direction only
0 81.23 7.42
10.95 /
Substituting the angular speed into the velocity of the piston equation
201.1 3 10.95 ̂ 234 ̂ /
The angular acceleration of arm OA is required to find the acceleration of the piston. Assuming that the
mechanism is decelerating uniformly, the angular acceleration of arm OA can be calculated as
0 640 2
0.931 /
Δ 1.2 60
And the acceleration of the piston is
/ , , / , / ,
/ / / /
0.931 / 0.931 / 3̂ 67.02 /
67.02 / 3̂ 10.95 /
10.95 / 8 cos 68° ̂ sin 68° ̂
8 cos 68° ̂ sin 68° ̂
13115.4 7.42 ̂ 892.2 3 ̂
Because the piston is constrained to move in the vertical direction only, the acceleration in the
horizontal direction is zero
0 13115.4 7.42
1767.6 /
As a result, the acceleration is
892.2 3 1767.6 ̂
4411 ̂ /
234 / @ 90°
Answer:
4411 / @ 90°
Problem 2.11
Given Information:
The spool shown is unwinding such that point O moves
straight down. At the instant shown the spool has an
angular velocity of 2 rad/s and an angular acceleration of
3.5 rad/s2 (both counterclockwise).
Required:
Find the acceleration of point O and point A.
Solution:
First, find the acceleration of the center of the spool using the relative accelerations method
/ / , / ,
/ / ̂ / / / / /
2 / 2 ̂ 2 / 2 / 2̂
3.5 / 2̂
7 /
Then, find the acceleration of point A noting that the center of the spool moves vertically only
/ / , / ,
/ / / / /
7 ̂ / 2 / 2 / 3̂
3.5 / 3̂
10.5 ̂ 19 ̂ /
7 / @ 90°
Answer:
21.71 / @ 61.1° ↗
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Problem 2.12
Given Information:
The disk shown rotates about point O at a constant
speed of 45 rpm. Connecting rod AB is attached to a
rack that turns the 6 inch radius gear.
Required:
What is the rotational speed and rotational acceleration of the gear at the instant shown?
Solution:
First, find the angle using the law of sines
sin 40° sin
24 8
12.37°
Next, find the velocity of the linkage point B
/ / /
2
45 / 8 cos 40° ̂ sin 40° ̂
60
24 cos 12.37° ̂ sin 12.37° ̂
24.23 5.14 ̂ 28.9 23.44 ̂
Because the rack is constrained to move in the horizontal direction only
0 28.9 23.44
1.23 /
and
24.23 5.14 1.23 ̂
30.57 ̂ /
Thus, the rotational speed of the gear at the instant shown is
30.57 /
5.095 /
6
Similarly, to find the angular acceleration of the gear, determine the acceleration of linkage point B
/ , / , / ,
/ / /
4.71 / 4.71 / 8 cos 40° ̂ sin 40° ̂ 1.23 /
1.23 / 24 cos 12.37° ̂ sin 12.37° ̂
24 cos 12.37° ̂ sin 12.37° ̂
171.84 5.14 ̂ 106.38 23.44 ̂
Because the rack is constrained to move in the horizontal direction only
0 106.38 23.44
4.54 /
and
171.84 5.14 4.54 ̂
148.5 ̂ /
Finally, determine the angular acceleration of the gear noticing that
,
148.5 /
24.75 /
6
5.095 /
Answer:
24.75 /
Problem 2.13
Given Information:
The linkage mechanism shown is driven by link O2A, which
rotates at a constant speed of 90 rpm clockwise.
Required:
Determine the rotational velocity and acceleration of link O4B in the position shown when the drive link
is vertical.
Solution:
First, find the velocity of point A
/
2
90 2̂
60
18.85 ̂ /
Then, find the internal angles of the mechanism at the given instant
6 2 2√10
Using the law of sines:
sin sin 180° 2
4 2√10
37.8°
and
180° 2 104.5°
2
tan 18.43°
6
180° 56.13°
19.37°
Then, find the velocity of linkage AB at point B
/ /
18.85 ̂ / 4 cos 19.37° ̂ sin 19.37° ̂
18.85 1.33 ̂ 3.8 ̂ Eq. (1)
Moreover, the velocity of point B can be found from linkage BO4
/ /
/ , / , / ,
/ / /
9.425 / 18.85 ̂ / 2.706 /
2.706 /
4 cos 19.37° ̂ sin 19.37° ̂
4 cos 19.37° ̂ sin 19.37° ̂
27.63 1.33 ̂ 187.41 3.77 ̂ Eq. (3)
Similarly, find an equation for the acceleration of point B from linkage BO4
/ , / ,
/ / / / /
4.6 / 4.6 / 4 cos 56.13° ̂ sin 56.13° ̂ /
4 cos 56.13° ̂ sin 56.13° ̂
47.2 3.32 / ̂ 70.28 2.23 / ̂ Eq. (4)
Setting Eq. (3) equal to Eq. (4) in their respective directions
27.63 1.33 ̂ 47.2 3.32 / ̂
1.33 3.32 / 74.83
and
187.41 3.77 ̂ 70.28 2.23 / ̂
3.77 2.23 / 117.13
Solving for the system of equations yields
/ 22.25 /
/ 4.6 /
Answer:
/ 22.25 /
Problem 2.14
Given Information:
The linkage mechanism shown in Figure 2.42 is driven by
link O2A, which rotates at a constant speed of 90 rpm
clockwise.
Required:
Determine the velocity magnitude of the midpoint of link AB.
Solution:
First, find the velocity of the midpoint of link AB
/ /
where and were found in problem 2.13. As a result
/ /
18.85 ̂ / 2.71 / 2 cos 19.37° sin 19.37° ̂
17.05 ̂ 5.125 ̂ /
and
17.05 5.125 / 17.80 /
Answer: 17.80 /
Problem 2.15
Given Information:
For the linkage shown the drive link O2A rotates at 5 rad/s
clockwise and is accelerating at a rate of 1.2 rad/s2.
Required:
Determine the rotational velocity and acceleration of link O4B in the position shown.
Solution:
First, find the velocity and acceleration of point A
/ 5 / 2̂
10 ̂ /
, , / /
1.2 / 2̂ 5 / 10 ̂ /
2.4 ̂ 50 ̂ /
Then, find the internal angles of the mechanism at the given instant
6 2 2√10
Using the law of sines:
sin sin 180° 2
4 2√10
37.8°
and
180° 2 104.5°
2
tan 18.43°
6
180° 56.13°
19.37°
Then, find the velocity of point B
/ /
10 ̂ /
/ /
/ , , / , / ,
, , / /
2.4 ̂
50 ̂ / 2.706 /
2.706 / 4 cos 19.37° ̂ sin 19.37° ̂
4 cos 19.37° ̂ sin 19.37° ̂
25.23 1.33 ̂ 59.714 3.77 ̂ Eq. (3)
Similarly, find an expression for the acceleration of point B from linkage
BO4
/ , / ,
/ / / / /
4.6 /
4.6 /
4 cos 56.13° ̂ sin 56.13° ̂ /
4 cos 56.13° ̂ sin 56.13° ̂
47.2 3.32 / ̂ 70.28 2.23 / ̂ Eq. (4)
Setting Eq. (3) equal to Eq. (4) in their respective directions
25.23 1.33 ̂ 47.2 3.32 / ̂
1.33 3.32 / 72.43
and
59.714 3.77 ̂ 70.28 2.23 / ̂
3.77 2.23 / 10.57
Solving for the system of equations yields
12.7 /
/ 16.73 /
/ 2.44 /
Answer:
/ 16.73 /
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Problem 2.16
Given Information:
The linkage mechanism shown is driven by link O2A. At
the instant shown the driving link is rotating at 8 radians
per second clockwise and accelerating at 2.5 radians per
second squared.
Required:
Determine the rotational velocity and acceleration of links AB and O4B in the position shown.
Solution:
First, find the velocity of point A at the instant shown
/ 8 / 2 cos 50° ̂ sin 50° ̂
12.26 ̂ 10.28 ̂ /
Then, find the internal angles of the linkage mechanism at the instant shown.
Applying the law of cosines to triangle O2AO4:
2 6 2 2 6 cos 50°
4.96
Applying the law of sines to triangle O2AO4:
6 2
sin sin 50° sin
4.96 2
sin 50° sin
18°
Applying the law of cosines to triangle BAO4:
4 3.5 4.96 2 3.5 4.96 cos
53.1°
35.1°
Applying the law of sines to triangle BAO4:
4
sin sin
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4 4.96
sin 53.1° sin
82.6°
and
180°
62.3°
90° 27.7
Then, determine the velocity of point B
/ /
/ cos ̂ sin ̂
12.26 ̂ 10.28 ̂ / 4 cos 62.3° ̂ sin 62.3° ̂
12.26 3.55 ̂ 10.28 1.83 ̂ Eq. (1)
The velocity of point B can also be calculated from linkage BO4 as follows
/ / cos ̂ sin ̂
3.5 cos 35.1° ̂ sin 35.1° ̂
2.02 ̂ 2.86 ̂ Eq. (2)
Setting Eq. (1) equal to Eq. (2) in their respecitve directions
12.26 3.55 ̂ 2.02 ̂
3.55 2.02 12.26
and
10.28 1.83 ̂ 2.86 ̂
1.83 2.86 10.28
Solving for the system of equations yields
1.033 /
4.25 /
Furthermore, substituting into Eq. (2) to determine the velocity of point B yields
2.02 4.25 ̂ 2.86 4.25 ̂
8.59 ̂ 12.17 ̂ /
Next, find the acceleration of point A
, , /
8 / 12.26 ̂ 10.28 ̂ / 2.5 /
2 cos 50° ̂ sin 50° ̂
78.41 ̂ 101.3 ̂ /
Then, find an expression for the acceleration of point B