Problem 12-158

For a short time the arm of the robot is extending so that r' remains constant, z = bt2 and θ = ct.
Determine the magnitudes of the velocity and acceleration of the grip A when t = t1 and r = r1.

Given:

m
r' = 0.45
s
m
b = 1.2
2
s

rad
c = 0.5
s

t1 = 3 s

r1 = 0.9 m

Solution: t = t1

2
r = r1 θ = ct z = bt

θ' = c z' = 2b t

z'' = 2b

r' + ( rθ' ) + z'

2 2 2 m
v = v = 7.23
s

a = (−r θ' 2)2 + (2r'θ' )2 + z'' 2 a = 2.45

m
2
s
Problem 12–159

The rod OA rotates counterclockwise with a constant angular velocity of θ'. Two
pin-connected slider blocks, located at B, move freely on OA and the curved rod whose shape
is a limaçon described by the equation r = b(c − cos(θ)). Determine the speed of the slider
blocks at the instant θ = θ1.

Given:

rad
θ' = 5
s

b = 100 mm

c = 2

θ 1 = 120 deg

Solution:

θ = θ1

r = b( c − cos ( θ ) )

r' = b sin ( θ ) θ'

r' + ( rθ' )
2 2 m
v = v = 1.323
s
*Problem 12–160

The rod OA rotates counterclockwise with a constant angular velocity of θ'. Two
pin-connected slider blocks, located at B, move freely on OA and the curved rod whose shape
is a limaçon described by the equation r = b(c − cos(θ)). Determine the acceleration of the
slider blocks at the instant θ = θ1.

Given:

rad
θ' = 5
s

b = 100 mm

c = 2

θ 1 = 120 deg

Solution:

θ = θ1

r = b( c − cos ( θ ) )

r' = b sin ( θ ) θ'

r'' = b cos ( θ ) θ'

2

a = (r'' − rθ' 2)2 + (2r'θ' )2 a = 8.66

m
2
s
Problem 12-161

The searchlight on the boat anchored a distance d from shore is turned on the automobile, which
is traveling along the straight road at a constant speed v. Determine the angular rate of rotation
of the light when the automobile is r = r1 from the boat.

Given:

d = 600 m

m
v = 24
s

r1 = 900 m

Solution:

r = r1

θ = asin ⎛⎜ ⎟⎞
d
θ = 41.81 deg
⎝ r⎠
v sin ( θ ) rad
θ' = θ' = 0.0178
r s
Problem 12-162

The searchlight on the boat anchored a distance d from shore is turned on the automobile, which
is traveling along the straight road at speed v and acceleration a. Determine the required angular
acceleration θ'' of the light when the automobile is r = r1 from the boat.

Given:

d = 600 m

m
v = 24
s
m
a = 4.5
2
s
r1 = 900 m

Solution:

r = r1

θ = asin ⎛⎜ ⎟⎞
d
θ = 41.81 deg
⎝ r⎠
v sin ( θ ) rad
θ' = θ' = 0.0178
r s

r' = −v cos ( θ )
m
r' = −17.89
s
a sin ( θ ) − 2r' θ' rad
θ'' = θ'' = 0.00404
r 2
s
Problem 12–163

For a short time the bucket of the backhoe traces the path of the cardioid r = a(1 − cos θ).
Determine the magnitudes of the velocity and acceleration of the bucket at θ = θ1 if the boom is
rotating with an angular velocity θ' and an angular acceleration θ'' at the instant shown.

Given:

a = 7.5 m

rad
θ' = 2
s
rad
θ'' = 0.2
2
s

θ 1 = 120 deg

Solution:

θ = θ1

r = a( 1 − cos ( θ ) ) r' = a sin ( θ ) θ' r'' = a sin ( θ ) θ'' + a cos ( θ ) θ'

2

r' + ( rθ' )
2 2 m
v = v = 26
s

a = (r'' − rθ' 2)2 + (rθ'' + 2r'θ' )2 a = 79.9

m
2
s
*Problem 12-164

A car is traveling along the circular curve having a radius r. At the instance shown, its angular
rate of rotation is θ', which is decreasing at the rate θ''. Determine the radial and transverse
components of the car's velocity and acceleration at this instant.
Given:

r = 120 m
rad
θ' = 0.025
s
rad
θ'' = −0.008
2
s

Solution:
m
vr = rθ' vr = 3.00
s
vθ = 0

m
ar = rθ'' ar = −0.96
2
s

2 m
aθ = rθ' aθ = 0.075
2
s
Problem 12–165

The mechanism of a machine is constructed so that for a short time the roller at A follows the
surface of the cam described by the equation r = a + b cosθ. If θ' and θ'' are given, determine
the magnitudes of the roller’s velocity and acceleration at the instant θ = θ1. Neglect the size of
the roller. Also determine the velocity components vAx and vAy of the roller at this instant. The
rod to which the roller is attached remains vertical and can slide up or down along the guides
while the guides move horizontally to the left.

Given:

a = 0.3 m

b = 0.2 m

rad
θ' = 0.5
s
rad
θ'' = 0
2
s

θ 1 = 30 deg

Solution:

θ = θ1

r = a + b cos ( θ ) r' = −b sin ( θ ) θ' r'' = −b sin ( θ ) θ'' − b cos ( θ ) θ'

2

r' + ( rθ' )
2 2 m
v = v = 0.242
s

a = (r'' − rθ' 2)2 + (rθ'' + 2r'θ' )2 a = 0.169

m
2
s

vAx = −r' cos ( θ ) + rθ' sin ( θ )

m
vAx = 0.162
s

vAy = r' sin ( θ ) + rθ' cos ( θ )

m
vAy = 0.18
s
Problem 12-166

The roller coaster is traveling down along the spiral ramp with a constant speed v. If the track
descends a distance h for every full revolution, determine the magnitude of the roller coaster’s
acceleration as it moves along the track, r of radius. Hint: For part of the solution, note that the
tangent to the ramp at any point is at an angle φ = tan-1(h/2πr) from the horizontal. Use this to
determine the velocity components vθ and vz which in turn are used to determine θ and z.

Given:

m
v = 6
s

h = 10 m

r = 5m

Solution:

φ = atan ⎛⎜ ⎞
h
⎟ φ = 17.66 deg
⎝ 2π r ⎠
v cos ( φ ) 2 m
θ' = a = −r θ' a = 6.54
r 2
s
Problem 12-167

A cameraman standing at A is following the movement of a race car, B, which is traveling

around a curved track at constant speed vB. Determine the angular rate at which the man must
turn in order to keep the camera directed on the car at the instant θ = θ1.

Given:

m
vB = 30
s

θ 1 = 30 deg

a = 20 m

b = 20 m

θ = θ1

m rad rad
Solution: Guess r = 1m r' = 1 θ' = 1 φ = 20 deg φ' = 2
s s s

Given r sin ( θ ) = b sin ( φ )

r' sin ( θ ) + r cos ( θ ) θ' = b cos ( φ ) φ'

r cos ( θ ) = a + b cos ( φ )

r' cos ( θ ) − r sin ( θ ) θ' = −b sin ( φ ) φ'

vB = bφ'

⎛r⎞
⎜ r' ⎟
⎜ ⎟
⎜ θ' ⎟ = Find ( r , r' , θ' , φ , φ' )
m
r = 34.64 m r' = −15.00
s
⎜φ ⎟
⎜ ⎟
⎝ φ' ⎠ φ = 60.00 deg φ' = 1.50
rad
s

rad
θ' = 0.75
s
*Problem 12-168

The pin follows the path described by the equation r = a + bcos θ. At the instant θ = θ1. the
angular velocity and angular acceleration are θ' and θ''. Determine the magnitudes of the pin’s
velocity and acceleration at this instant. Neglect the size of the pin.

Given:

a = 0.2 m

b = 0.15 m

θ 1 = 30 deg

rad
θ' = 0.7
s

rad
θ'' = 0.5
2
s

Solution: θ = θ1

r = a + b cos ( θ ) r' = −b sin ( θ ) θ' r'' = −b cos ( θ ) θ' − b sin ( θ ) θ''

2

r' + ( rθ' )
2 2 m
v = v = 0.237
s

a = (r'' − rθ' 2)2 + (rθ'' + 2r'θ' )2 a = 0.278

m
2
s
Problem 12-169

For a short time the position of the roller-coaster car along its path is defined by the equations r = r0, θ =
at, and z = bcos θ. Determine the magnitude of the car’s velocity and acceleration when t = t1.

Given:

r0 = 25 m

rad
a = 0.3
s

b = −8 m

t1 = 4 s

Solution: t = t1

r = r0 θ = at z = b cos ( θ )

θ' = a z' = −b sin ( θ ) θ'

z'' = −b cos ( θ ) θ'

2

v = ( rθ' )2 + z'2 v = 7.83

m
s

a = (−r θ' 2)2 + z'' 2 a = 2.27

m
2
s
 Problem 12-170

The small washer is sliding down the cord OA. When it is at the midpoint, its speed is v and its
acceleration is a'. Express the velocity and acceleration of the washer at this point in terms of
its cylindrical components.

Given:

mm
v = 200
s

mm
a' = 10
2
s

a = 400 mm

b = 300 mm

c = 700 mm

Solution:

2 2
−v a + b m
vr = vr = −0.12
2 2 2 s
a +b +c

vθ = 0

−v c m
vz = vz = −0.16
2 2 2 s
a +b +c

ar = −a cos ( α )

2 2
−a' a +b m
ar = ar = −0.01
2 2 2 2
a +b +c s

aθ = 0

−v c m
az = az = −0.16
2 2 2 s
a +b +c
Problem 12–171

A double collar C is pin-connected together such that one collar slides over a fixed rod and the
other slides over a rotating rod. If the geometry of the fixed rod for a short distance can be
defined by a lemniscate, r2 = (a cos bθ), determine the collar’s radial and transverse
components of velocity and acceleration at the instant θ = 0° as shown. Rod OA is rotating at a
constant rate of θ'.

Given:
2
a = 4m

b = 2

rad
θ' = 6
s

Solution:

θ = 0 deg r = a cos ( bθ )

r = a cos ( bθ )
2

−a b sin ( bθ ) θ'
2r r' = −a b sin ( bθ ) θ' r' =
2r
−a b cos ( bθ ) θ' − 2r'
2 2 2
cos ( bθ ) θ'
2 2 2
2r r'' + 2r' = −a b r'' =
2r

m
vr = r' vr = 0
s
m
vθ = rθ' vθ = 12
s

2 m
ar = r'' − rθ' ar = −216
2
s
m
aθ = 2r' θ' aθ = 0
2
s
*Problem 12-172

If the end of the cable at A is pulled down with speed v, determine the speed at which block B
rises.

Given:

m
v = 2
s

Solution:

vA = v
−vA m
L = 2sB + sA 0 = 2vB + vA vB = vB = −1.00
2 s
Problem 12-173

If the end of the cable at A is pulled down with speed v, determine the speed at which block B
rises.

Given:

m
v = 2
s

Solution:

vA = v
−vA
L1 = sA + 2sC 0 = vA + 2vC vC =
2

L2 = ( sB − sC) + sB 0 = 2vB − vC vC m
vB = vB = −0.50
2 s
Problem 12-174

Determine the constant speed at which the cable at A must be drawn in by the motor in order to
hoist the load at B a distance d in a time t.

Given:

d = 5m

t = 5s

Solution:

L = 4sB + sA

0 = 4vB + vA

vA = −4⎜
⎛ −d ⎞ m
vA = −4vB ⎟ vA = 4.0
⎝ t ⎠ s
Problem 12-175

Determine the time needed for the load at B to attain speed v, starting from rest, if the cable is
drawn into the motor with acceleration a.

Given:

m
v = −8
s

m
a = 0.2
2
s

Solution: vB = v

L = 4sB + sA

0 = 4vB + vA

−vA −1
vB = = at
4 4

−4vB
t = t = 160.00 s
a
*Problem 12–176

If the hydraulic cylinder at H draws rod BC in by a distance d, determine how far the slider at A
moves.
Given:

d = 200 mm

Solution:

Δ sH = d

L = sA + 2sH

0 = ΔsA + 2ΔsH

Δ sA = −2ΔsH

Δ sA = −400 mm
Problem 12-177

The crate is being lifted up the inclined plane using the motor M and the rope and pulley arrangement
shown. Determine the speed at which the cable must be taken up by the motor in order to move the
crate up the plane with constant speed v.

Given:

m
v = 1.2
s

Solution: vA = v

L = 2sA + ( sA − sP)

m
0 = 3vA − vP vP = 3vA vP = 3.60
s
Problem 12-178

Determine the displacement of the block at B if A is pulled down a distance d.

Given: d = 1m

Solution: Δ sA = d

L1 = 2sA + 2sC L2 = ( sB − sC) + sB

0 = 2Δ sA + 2Δ sC 0 = 2Δ sB − ΔsC

Δ sC
Δ sC = −ΔsA Δ sB = Δ sB = −0.50 m
2
Problem 12–179

The hoist is used to lift the load at D. If the end A of the chain is travelling downward at vA and
the end B is travelling upward at vB, determine the velocity of the load at D.

Given:

m
vA = 1.5
s

m
vB = 0.6
s

Solution:

L = sB + sA + 2sD

0 = −vB + vA + 2vD

vB − vA
vD =
2

m
vD = −0.45
s

Positive means down,

Negative means up
*Problem 12-180

The pulley arrangement shown is designed for hoisting materials. If BC remains fixed while the
plunger P is pushed downward with speed v, determine the speed of the load at A.

Given:

m
v = 1.2
s

Solution:

vP = v

L = 6sP + sA

0 = 6vP + vA

m
vA = −6vP vA =
s
Problem 12-181

If block A is moving downward with speed vA while C is moving up at speed vC, determine the
speed of block B.

Given:

m
vA = 1.2
s

m
vC = −0.6
s

Solution:

SA + 2SB + SC = L

Taking time derivative:

vA + 2vB + vC = 0

−( vC + vA) m
vB = vB = −0.30 Positive means down, negative means up.
2 s
Problem 12-182

If block A is moving downward at speed vA while block C is moving down at speed vC,
determine the relative velocity of block B with respect to C.

Given:

m
vA = 2
s

m
vC = 6
s

Solution:

SA + 2SB + SC = L

Taking time derivative

vA + 2vB + vC = 0

−( vA + vC) m
vB = vB = −4.0
2 s

m
vBC = vB − vC vBC = −10.0 Positive means down, negative means up
s
Problem 12–183

The motor draws in the cable at C with a constant velocity vC. The motor draws in the cable at
D with a constant acceleration of aD. If vD = 0 when t = 0, determine (a) the time needed for
block A to rise a distance h, and (b) the relative velocity of block A with respect to block B
when this occurs.

Given:
m
vC = −4
s
m
aD = 8
2
s

h = 3m

Solution:

L1 = sD + 2sA

0 = vD + 2vA

0 = aD + 2aA

L2 = sB + ( sB − sC)

0 = 2vB − vC

0 = 2aB − aC

−aD
aA =
2

vA = aA t

⎛ t2 ⎞ − 2h
sA = −h = aA⎜ ⎟ t = t = 1.225 s
⎝2⎠ aA

1 m
vA = aA t vB = vC vAB = vA − vB vAB = −2.90
2 s
*Problem 12-184

If block A of the pulley system is moving downward with speed vA while block C is moving
up at vC determine the speed of block B.

Given:
m
vA = 1.2
s
m
vC = −0.6
s

Solution:

SA + 2SB + 2SC = L
−2vC − vA m
vA + 2vB + 2vC = 0 vB = vB = 0
2 s
Problem 12–185

If the point A on the cable is moving upwards at vA, determine the speed of block B.

Given:

m
vA = −14
s

Solution:

L1 = ( sD − sA) + ( sD − sE)

0 = 2vD − vA − vE

L2 = ( sD − sE) + ( sC − sE)

0 = vD + vC − 2vE

L3 = ( sC − sD) + sC + sE

0 = 2vC − vD + vE

m m m
Guesses vC = 1 vD = 1 vE = 1
s s s

Given 0 = 2vD − vA − vE

0 = vD + vC − 2vE

0 = 2vC − vD + vE

⎛ vC ⎞ ⎛ vC ⎞ ⎛ −2 ⎞
⎜ ⎟ ⎜ ⎟ ⎜ ⎟m
⎜ vD ⎟ = Find ( vC , vD , vE) ⎜ vD ⎟ = ⎜ −10 ⎟
⎜v ⎟ ⎜ v ⎟ ⎝ −6 ⎠ s
⎝ E⎠ ⎝ E⎠

m Positive means down,

vB = vC vB = −2
s Negative means up
Problem 12-186

The cylinder C is being lifted using the cable and pulley system shown. If point A on the cable is
being drawn toward the drum with speed of vA, determine the speed of the cylinder.

Given:

m
vA = −2
s

Solution:

L = 2sC + ( sC − sA)

0 = 3vC − vA

vA
vC =
3

m
vC = −0.67
s

Positive means down,

negative means up.
Problem 12–187

The cord is attached to the pin at C and passes over the two pulleys at A and D. The pulley at A
is attached to the smooth collar that travels along the vertical rod. Determine the velocity and
acceleration of the end of the cord at B if at the instant sA = b the collar is moving upwards at
speed v, which is decreasing at rate a.
Given:

m
a = 0.9 m vA = −1.5
s
m
b = 1.2 m aA = 0.6
2
s

Solution:

2 2
L = 2 a + sA + sB

sA = b

m m
Guesses vB = 1 aB = 1
s 2
s

Given 2sA vA
0= + vB
2 2
a + sA

2 2 2
2sA aA + 2vA 2sA vA
0= − + aB
2
a + sA
2
(a 2
+ sA
2
) 3

⎛ vB ⎞
⎜ ⎟ = Find ( vB , aB)
m m
vB = 2.4 aB = −2.04
⎝ aB ⎠ s 2
s
*Problem 12–188

The cord of length L is attached to the pin at C and passes over the two pulleys at A and D. The
pulley at A is attached to the smooth collar that travels along the vertical rod. When sB = b, the
end of the cord at B is pulled downwards with a velocity vB and is given an acceleration aB.
Determine the velocity and acceleration of the collar A at this instant.
Given:

L = 4.8 m

m
a = 0.9 m vB = 1.2
s
m
b = 1.8 m aB = 0.9
2
s

sB = b
Solution:

Guesses

m m
vA = 1 aA = 1 sA = 1 m
s 2
s

Given 2 2
L = 2 a + sA + sB

2sA vA
0= + vB
2 2
a + sA

2 2 2
2sA aA + 2vA 2sA vA
0= − + aB
2
a + sA
2
(a2 + sA2) 3

⎛ sA ⎞
⎜ ⎟
⎜ vA ⎟ = Find ( sA , vA , aA)
m m
sA = 3.937 ft vA = −0.75 aA = −0.73
s 2
⎜a ⎟ s
⎝ A⎠
Problem 12-189

The crate C is being lifted by moving the roller at A downward with constant speed vA along the
guide. Determine the velocity and acceleration of the crate at the instant s = s1. When the roller is at
B, the crate rests on the ground. Neglect the size of the pulley in the calculation. Hint: Relate the
coordinates xC and xA using the problem geometry, then take the first and second time derivatives.

Given:
m
vA = 2
s

s1 = 1 m

d = 4m

e = 4m

Solution:

xC = e − s1 L = d+e

m m
Guesses vC = 1 aC = 1 xA = 1 m
s 2
s

2 2 xA vA
Given L = xC + xA + d 0 = vC +
2 2
xA + d

2 2 2
xA vA vA
0 = aC − +
(xA 2
+d
2
) 3 2
xA + d
2

⎛ xA ⎞
⎜ ⎟
⎜ vC ⎟ = Find ( xA , vC , aC)
m m
xA = 3.00 m vC = −1.20 aC = −0.512
s 2
⎜a ⎟ s
⎝ C⎠
Problem 12-190

The girl at C stands near the edge of the pier and pulls in the rope horizontally at constant speed
vC. Determine how fast the boat approaches the pier at the instant the rope length AB is d.

Given:

m
vC = 1.8
s
h = 2.4 m

d = 15 m

2 2
Solution: xB = d −h

2 2 xB vB
L = xC + h + xB 0 = vC +
2 2
h + xB

⎛⎜ h2 + x 2 ⎟⎞
B m
vB = −vC⎜ ⎟ vB = −1.82 Positive means to the right, negative to the left.
⎝ xB ⎠ s
Problem 12-191

The man pulls the boy up to the tree limb C by walking backward. If he starts from rest when
xA = 0 and moves backward with constant acceleration aA, determine the speed of the boy at the
instant yB = yB1. Neglect the size of the limb. When xA = 0, yB = h so that A and B are coincident,
i.e., the rope is 2h long.

Given:

m
aA = 0.2
2
s

yB1 = 4 m

h = 8m

Solution: yB = yB1

m m
Guesses xA = 1 m vA = 1 vB = 1
s s

2 2 xA vA 2
Given 2h = xA + h + yB 0= + vB vA = 2aA xA
2 2
xA + h

⎛ xA ⎞
⎜ ⎟
⎜ vA ⎟ = Find ( xA , vA , vB)
m m
xA = 8.94 m vA = 1.89 vB = −1.41
s s
⎜v ⎟
⎝ B⎠ Positive means down,
negative means up
*Problem 12-192

Collars A and B are connected to the cord that passes over the small pulley at C. When A is
located at D, B is a distance d1 to the left of D. If A moves at a constant speed vA, to the right,
determine the speed of B when A is distance d2 to the right of D.

Given:

h = 3m

d1 = 7.2 m

d2 = 1.2 m

m
vA = 0.6
s

Solution:
2 2
L = h + d1 + h sA = d2

2
2 2
sB + h = L −
2
sA + h
2
sB = ⎛ L − s 2 + h2⎞ − h2 sB = 6.95 m
⎝ A ⎠

2 2
sB vB −sA vA −sA vA sB + h m
= vB = vB = −0.243
2 2 2 2 2 2 s
sB + h sA + h sB sA + h

Positive means to the left,

negative to the right.
Problem 12-193

If block B is moving down with a velocity vB and has an acceleration aB, determine the velocity
and acceleration of block A in terms of the parameters shown.

Solution:

2 2
L = sB + sA + h

2 2
sA vA −vB sA + h
0 = vB + vA =
2 2 sA
sA + h

2 2 2
sA vA vA + sA aA
0 = aB − +
3 2 2
sA + h
(sA2 + h2) 2
2 2 2 2 2 2 2 2
sA vA sA + h vA −aB sA + h vB h
aA = − aB − aA = −
2 2 sA sA sA 3
sA + h sA
Problem 12-194

Vertical motion of the load is produced by movement of the piston at A on the boom. Determine
the distance the piston or pulley at C must move to the left in order to lift the load a distance h.
The cable is attached at B, passes over the pulley at C, then D, E, F, and again around E, and is
attached at G.

Given:

h = 0.6 m

Solution:

Δ sF = −h

L = 2sC + 2sF

2ΔsC = −2Δ sF

Δ sC = −ΔsF

Δ sC = 0.6 m
Problem 12-195

The motion of the collar at A is controlled by a motor at B such that when the collar is at sA, it is
moving upwards at vA and slowing down at aA. Determine the velocity and acceleration of the
cable as it is drawn into the motor B at this instant.

Given:

d = 1.2 m

sA = 0.9 m
m
vA = −0.6
s
m
aA = 0.3
2
s

2 2
Solution: L= sA + d + sB

m m
Guesses vB = 1 aB = 1
s 2
s

sA vA
vB = −
2 2
sA + d

2 2 2
vA + sA aA sA vA
aB = − +
2
sA + d
2
(sA2 + d2)3
m m
vB = 0.36 aB = −0.33
s 2
s
 *Problem 12-196

The roller at A is moving upward with a velocity vA and has an acceleration aA at sA. Determine
the velocity and acceleration of block B at this instant.

Given:
m
sA = 1.2 m aA = 1.2
2
s
m
vA = 0.9 d = 0.9 m
s

Solution:

2 2
l = sB + sA + d

sA vA
0 = vB +
2 2
sA + d

−sA vA m
vB = vB = −0.72
2 2 s
sA + d

2 2 2
−vA − sA aA sA vA m
aB = + aB = −1.15
(sA2 + d2)3
2 2 2
sA + d s
Problem 12-197

Two planes, A and B, are flying at the same altitude. If their velocities are vA and vB such that
the angle between their straight-line courses is θ, determine the velocity of plane B with respect
to plane A.

Given:

km
vA = 600
hr

km
vB = 500
hr

θ = 75 deg

Solution:

⎛ cos ( θ ) ⎞ ⎛ 155.29 ⎞ km
vAv = vA⎜ ⎟ vAv = ⎜ ⎟
⎝ −sin ( θ ) ⎠ ⎝ −579.56 ⎠ hr

⎛ −1 ⎞ ⎛ −500.00 ⎞ km
vBv = vB⎜ ⎟ vBv = ⎜ ⎟
⎝0⎠ ⎝ 0.00 ⎠ hr

⎛ −655 ⎞ km km
vBA = vBv − vAv vBA = ⎜ ⎟ vBA = 875
⎝ 580 ⎠ hr hr
Problem 12-198

At the instant shown, cars A and B are traveling at speeds vA and vB respectively. If A is
increasing its speed at v'A whereas the speed of B is decreasing at v'B, determine the velocity
and acceleration of B with respect to A.

Given:

km
vA = 48
hr
km
vB = 32
hr
km
v'A = 0
2
hr

km
v'B = 1920
2
hr

θ = 30 deg

r = 0.48 km

Solution:

⎛ −1 ⎞ ⎛ −48.0 ⎞ km
vAv = vA⎜ ⎟ vAv = ⎜ ⎟
⎝0⎠ ⎝ 0.0 ⎠ hr
⎛ −sin ( θ ) ⎞ ⎛ −16.0 ⎞ km
vBv = vB⎜ ⎟ vBv = ⎜ ⎟
⎝ cos ( θ ) ⎠ ⎝ 27.7 ⎠ hr

⎛ 32.0 ⎞ km km
vBA = vBv − vAv vBA = ⎜ ⎟ vBA = 42.3
⎝ 27.7 ⎠ hr hr

⎛ −v'A ⎞ ⎛ 0.00 ⎞ km
aAv = ⎜ ⎟ aAv = ⎜ ⎟
⎝ 0 ⎠ ⎝ 0.00 ⎠ hr2

⎛ −sin ( θ ) ⎞ vB ⎛ cos ( θ ) ⎞
2
⎛ 887.5 ⎞ km
aBv = v'B ⎜ ⎟+ ⎜ ⎟ aBv = ⎜ ⎟
⎝ cos ( θ ) ⎠ r ⎝ sin ( θ ) ⎠ ⎝ 2729.4 ⎠ hr2

⎛ 888 ⎞ km km
aBA = aBv − aAv aBA = ⎜ ⎟ aBA = 2870
⎝ 2729 ⎠ hr2 hr
2
Problem 12-199

At the instant shown, cars A and B are traveling at speeds vA and vB respectively. If A is
increasing its speed at v'A whereas the speed of B is decreasing at v'B, determine the velocity
and acceleration of B with respect to A.

Given:

km
vA = 48
hr
km
vB = 32
hr
km
v'A = 640
2
hr

km
v'B = −1280
2
hr

θ = 30 deg

r = 0.48 km

Solution:

⎛ −1 ⎞ ⎛ −48.0 ⎞ km
vAv = vA⎜ ⎟ vAv = ⎜ ⎟
⎝0⎠ ⎝ 0.0 ⎠ hr
⎛ −sin ( θ ) ⎞ ⎛ −16.0 ⎞ km
vBv = vB⎜ ⎟ vBv = ⎜ ⎟
⎝ cos ( θ ) ⎠ ⎝ 27.7 ⎠ hr

⎛ 32.0 ⎞ km km
vBA = vBv − vAv vBA = ⎜ ⎟ vBA = 42.3
⎝ 27.7 ⎠ hr hr

⎛ −v'A ⎞ ⎛ −640.00 ⎞ km
aAv = ⎜ ⎟ aAv = ⎜ ⎟
⎝ 0 ⎠ ⎝ 0.00 ⎠ hr2

⎛ −sin ( θ ) ⎞ vB ⎛ cos ( θ ) ⎞
2
⎛ 2487.5 ⎞ km
aBv = v'B ⎜ ⎟+ ⎜ ⎟ aBv = ⎜ ⎟
⎝ cos ( θ ) ⎠ r ⎝ sin ( θ ) ⎠ ⎝ −41.8 ⎠ hr2

⎛ 3128 ⎞ km km
aBA = aBv − aAv aBA = ⎜ ⎟ aBA = 3128
⎝ −42 ⎠ hr2 hr
2
*Problem 12-200

Two boats leave the shore at the same time and travel in the directions shown with the given
speeds. Determine the speed of boat A with respect to boat B. How long after leaving the
shore will the boats be at a distance d apart?

Given:

m
vA = 6 θ 1 = 30 deg
s
m
vB = 4.5 θ 2 = 45 deg
s

d = 240 m

Solution:

⎛ −sin ( θ 1) ⎞ ⎛ cos ( θ 2) ⎞
vAv = vA⎜ ⎟ vBv = vB⎜ ⎟
⎝ cos ( θ 1) ⎠ ⎝ sin ( θ 2) ⎠

⎛ −6.18 ⎞ m d
vAB = vAv − vBv vAB = ⎜ ⎟ t =
⎝ 2.01 ⎠ s vAB

m
vAB = 6.50 t = 36.91 s
s
Problem 12–201

At the instant shown, the car at A is traveling at vA around the curve while increasing its speed
at v'A. The car at B is traveling at vB along the straightaway and increasing its speed at v'B.
Determine the relative velocity and relative acceleration of A with respect to B at this instant.
Given:
m m
vA = 10 vB = 18.5
s s
m m
v'A = 5 v'B = 2
2 2
s s

θ = 45 deg ρ = 100 m

Solution:

⎛ sin ( θ ) ⎞
vAv = vA⎜ ⎟
⎝ −cos ( θ ) ⎠

⎛ sin ( θ ) ⎞ vA ⎛ −cos ( θ ) ⎞
2
aAv = v'A ⎜ ⎟+ ⎜ ⎟
⎝ −cos ( θ ) ⎠ ρ ⎝ −sin ( θ ) ⎠

⎛ vB ⎞ ⎛ v'B ⎞
vBv = ⎜ ⎟ aBv = ⎜ ⎟
⎝0⎠ ⎝ 0 ⎠

⎛ −11.43 ⎞ m
vAB = vAv − vBv vAB = ⎜ ⎟
⎝ −7.07 ⎠ s

⎛ 0.828 ⎞ m
aAB = aAv − aBv aAB = ⎜ ⎟
⎝ −4.243 ⎠ s2
Problem 12–202

An aircraft carrier is traveling forward with a velocity v0. At the instant shown, the plane at A
has just taken off and has attained a forward horizontal air speed vA, measured from still water.
If the plane at B is traveling along the runway of the carrier at vB in the direction shown
measured relative to the carrier, determine the velocity of A with respect to B.
Given:

km
v0 = 50
hr
km
vA = 200
hr
km
vB = 175
hr

θ = 15 deg

Solution:

⎛ vA ⎞ ⎛ v0 ⎞ ⎛ cos ( θ ) ⎞
vA = ⎜ ⎟ vB = ⎜ ⎟ + vB⎜ ⎟
⎝0⎠ ⎝0⎠ ⎝ sin ( θ ) ⎠

⎛ −19.04 ⎞ km km
vAB = vA − vB vAB = ⎜ ⎟ vAB = 49.1
⎝ −45.29 ⎠ hr hr
Problem 12-203

Cars A and B are traveling around the circular race track. At the instant shown, A has speed vA and is
increasing its speed at the rate of v'A, whereas B has speed vB and is decreasing its speed at v'B.
Determine the relative velocity and relative acceleration of car A with respect to car B at this instant.

Given: θ = 60 deg

rA = 90 m rB = 75 m

m m
vA = 27 vB = 31.5
s s

m m
v'A = 4.5 v'B = −7.5
2 2
s s

Solution:

⎛ −1 ⎞ ⎛ −27.00 ⎞ m
vAv = vA⎜ ⎟ vAv = ⎜ ⎟
⎝0⎠ ⎝ 0.00 ⎠ s

⎛ −cos ( θ ) ⎞ ⎛ −15.75 ⎞ m
vBv = vB⎜ ⎟ vBv = ⎜ ⎟
⎝ sin ( θ ) ⎠ ⎝ 27.28 ⎠ s

⎛ −11.2 ⎞ m m
vAB = vAv − vBv vAB = ⎜ ⎟ vAB = 29.5
⎝ −27.3 ⎠ s s

2
⎛ −1 ⎞ vA ⎛ 0 ⎞ ⎛ −4.50 ⎞ m
aA = v'A ⎜ ⎟ + ⎜ ⎟ aA = ⎜ ⎟
⎝ 0 ⎠ rA ⎝ −1 ⎠ ⎝ −8.10 ⎠ s2

⎛ −cos ( θ ) ⎞ vB ⎛ −sin ( θ ) ⎞
2
⎛ −7.71 ⎞ m
aB = v'B ⎜ ⎟+ ⎜ ⎟ aB = ⎜ ⎟
⎝ sin ( θ ) ⎠ rB ⎝ −cos ( θ ) ⎠ ⎝ −13.11 ⎠ s2

⎛ 3.21 ⎞ m m
aAB = aA − aB aAB = ⎜ ⎟ aAB = 5.95
⎝ 5.01 ⎠ s2 2
s
*Problem 12–204

The airplane has a speed relative to the wind of vA. If the speed of the wind relative to the
ground is vW, determine the angle θ at which the plane must be directed in order to travel in
the direction of the runway. Also, what is its speed relative to the runway?
Given:

km
vA = 150
hr

km
vW = 15
hr

φ = 20 deg

Solution:

Guesses θ = 1 deg

km
vAg = 1
hr

⎛ 0 ⎞ ⎛ sin ( θ ) ⎞ ⎛ −cos ( φ ) ⎞
Given ⎜ ⎟ = vA⎜ ⎟ + vW⎜ ⎟
⎝ vAg ⎠ ⎝ cos ( θ ) ⎠ ⎝ −sin ( φ ) ⎠

⎛ θ ⎞
⎜ ⎟ = Find ( θ , vAg)
km
θ = 5.39 deg vAg = 144.2
⎝ vAg ⎠ hr
Problem 12–205

At the instant shown car A is traveling with a velocity vA and has an acceleration aA along the
highway. At the same instant B is traveling on the trumpet interchange curve with a speed vB
which is decreasing at v'B. Determine the relative velocity and relative acceleration of B with
respect to A at this instant.

Given:
m
vA = 30
s
m
vB = 15
s
m
aA = 2
2
s

m
v'B = −0.8
2
s
ρ = 250 m

θ = 60 deg

Solution:

⎛ vA ⎞ ⎛ aA ⎞
vAv = ⎜ ⎟ aAv = ⎜ ⎟
⎝0⎠ ⎝0⎠

⎛ cos ( θ ) ⎞ ⎛ cos ( θ ) ⎞ vB ⎛ sin ( θ ) ⎞

2
vBv = vB⎜ ⎟ aBv = v'B ⎜ ⎟+ ⎜ ⎟
⎝ sin ( θ ) ⎠ ⎝ sin ( θ ) ⎠ ρ ⎝ −cos ( θ ) ⎠

⎛ −22.5 ⎞ m m
vBA = vBv − vAv vBA = ⎜ ⎟ vBA = 26.0
⎝ 12.99 ⎠ s s

⎛ −1.621 ⎞ m m
aBA = aBv − aAv aBA = ⎜ ⎟ aBA = 1.983
⎝ −1.143 ⎠ s2 s
2
Problem 12–206

The boy A is moving in a straight line away from the building at a constant speed vA. The boy
C throws the ball B horizontally when A is at d. At what speed must C throw the ball so that A
can catch it? Also determine the relative speed of the ball with respect to boy A at the instant
the catch is made.

Given:
m
vA = 1.2 h = 6m
s
m
d = 3m g = 9.81
2
s

Solution:

m
Guesses vC = 1
s

t = 1s

1 2
Given h− gt = 0
2

vC t = d + vA t

⎛ t ⎞
⎜ ⎟ = Find ( t , vC)
m
t = 1.106 s vC = 3.91
⎝ vC ⎠ s

⎛ vC ⎞ ⎛ vA ⎞ ⎛ 2.712 ⎞ m m
vBA = ⎜ ⎟−⎜ ⎟ vBA = ⎜ ⎟ vBA = 11.2
⎝ −g t ⎠ ⎝ 0 ⎠ ⎝ −10.85 ⎠ s s
Problem 12–207

The boy A is moving in a straight line away from the building at a constant speed vA. At what
horizontal distance d must he be from C in order to make the catch if the ball is thrown with a
horizontal velocity vC? Also determine the relative speed of the ball with respect to the boy A at
the instant the catch is made.

Given:
m
vA = 1.2 h = 6m
s
m m
vC = 3 g = 9.81
s 2
s

Solution:

Guesses d = 1m

t = 1s

1 2
Given h− gt = 0
2

vC t = d + vA t

⎛t ⎞
⎜ ⎟ = Find ( t , d) t = 1.106 s d = 1.99 m
⎝d⎠

⎛ vC ⎞ ⎛ vA ⎞ ⎛ 1.8 ⎞ m m
vBA = ⎜ ⎟−⎜ ⎟ vBA = ⎜ ⎟ vBA = 11.0
⎝ −g t ⎠ ⎝ 0 ⎠ ⎝ −10.85 ⎠ s s
*Problem 12–208

At a given instant, two particles A and B are moving with a speed of v0 along the paths
shown. If B is decelerating at v'B and the speed of A is increasing at v'A, determine the
acceleration of A with respect to B at this instant.
Given:
m m
v0 = 8 v'A = 5
s 2
s

m
v'B = −6
a = 1m 2
s

Solution:
3
2
⎛x⎞
y ( x) = a ⎜ ⎟ y' ( x) =
d
y ( x) y'' ( x) =
d
y' ( x)
⎝ a⎠ dx dx

(1 + y' ( a) 2)
3
ρ = θ = atan ( y' ( a) ) ρ = 7.812 m
y'' ( a)

⎛ cos ( θ ) ⎞ v0 ⎛ −sin ( θ ) ⎞
2
v'B ⎛ 1 ⎞
aA = v'A ⎜ ⎟+ ⎜ ⎟ aB = ⎜ ⎟
⎝ sin ( θ ) ⎠ ρ ⎝ cos ( θ ) ⎠ 2 ⎝ −1 ⎠

⎛ 0.2 ⎞ m m
aAB = aA − aB aAB = ⎜ ⎟ aAB = 4.47
⎝ 4.46 ⎠ s2 2
s