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16–54. Pinion gear A rolls on the fixed gear rack B with an C

angular velocity v = 4 rad>s. Determine the velocity of the
gear rack C.
A
vC = vB + vC>B v 0.3 ft

+ )
(; vC = 0 + 4(0.6)
B
vC = 2.40 ft>s Ans.

Also:

vC = vB + v * rC>B

-vC i = 0 + (4k) * (0.6j)

vC = 2.40 ft>s Ans.

16–55. Pinion gear A rolls on the gear racks B and C. If B C

is moving to the right at 8 ft>s and C is moving to the left at
4 ft>s, determine the angular velocity of the pinion gear and
the velocity of its center A. A
v 0.3 ft
vC = vB + vC>B
+ )
(: -4 = 8 - 0.6(v) B

v = 20 rad>s Ans.

vA = vB + vA>B
+ )
(: vA = 8 - 20(0.3)

vA = 2 ft>s : Ans.

Also,

vC = vB + v * rC>B

-4i = 8i + (vk) * (0.6j)

-4 = 8 - 0.6v

v = 20 rad>s Ans.

vA = vB + v * rA>B

vA i = 8i + 20k * (0.3j)

vA = 2 ft>s : Ans.

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*16–56. The gear rests in a fixed horizontal rack. A cord is

wrapped around the inner core of the gear so that it 1 ft A v ⫽ 2 ft/s
remains horizontally tangent to the inner core at A. If the
cord is pulled to the right with a constant speed of 2 ft>s, C
determine the velocity of the center of the gear, C. 0.5 ft
B
vA = vD + vA>D

c 2 d = 0 + cv( 1 .5) d
: :

a:
+ b 2 = 1.5v v = 1.33 rad>s

vC = vD + vC>D

cyC d = 0 + c1.33 (1) d

: :
a:
+ b yC = 1.33 ft>s : Ans.

•16–57. Solve Prob. 16–56 assuming that the cord is

wrapped around the gear in the opposite sense, so that the 1 ft A v ⫽ 2 ft/s
end of the cord remains horizontally tangent to the inner
core at B and is pulled to the right at 2 ft>s. C
0.5 ft

vB = vD + vB>D B

c 2 d = 0 + c v( 0 .5) d
: :

a:
+ b 2 = 0.5v v = 4 rad>s

vC = vD + vC>D

cyC d = 0 + c 4 ( 1) d
: :

a:
+ b yC = 4 ft>s : Ans.

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16–58. A bowling ball is cast on the “alley” with a v ⫽ 10 rad/s

backspin of v = 10 rad>s while its center O has a forward
velocity of vO = 8 m>s. Determine the velocity of the
contact point A in contact with the alley.
O vO ⫽ 8 m/s
vA = vO + vA>O 120 mm

a:
+ b vA = 8 + 10(0.12)
A
vA = 9.20 m>s : Ans.

Also,

vA = vO + v * rA>O

vA i = 8i + (10k) * (-0.12j)

a:
+ b vA = 9.20 m>s : Ans.

16–59. Determine the angular velocity of the gear and the A

velocity of its center O at the instant shown.
0.75 ft 3 ft/s
O
General Plane Motion: Applying the relative velocity equation to points B and C
1.50 ft
and referring to the kinematic diagram of the gear shown in Fig. a, 4 ft/s

vB = vC + v * rB>C

3i = -4i + A -vk B * A 2.25j B

3i = A 2.25v - 4 B i

Equating the i components yields

3 = 2.25v - 4 (1)

v = 3.111 rad>s Ans. (2)

For points O and C,

vO = vC + v * rO>C

= -4i + A -3.111k B * A 1.5j B

= [0.6667i] ft>s

Thus,

vO = 0.667 ft>s : Ans.

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*16–60. Determine the velocity of point A on the rim of A

the gear at the instant shown.
45⬚ 0.75 ft 3 ft/s
O
1.50 ft
4 ft/s

General Plane Motion: Applying the relative velocity equation to points B and C
and referring to the kinematic diagram of the gear shown in Fig. a,

vB = vC + v * rB>C

3i = -4i + A -vk B * A 2.25j B

3i = A 2.25v - 4 B i

Equating the i components yields

3 = 2.25v - 4 (1)

v = 3.111 rad>s (2)

For points A and C,

vA = vC + v * rA>C

A vA B x i + A vA B y j = -4i + A -3.111k B * A -1.061i + 2.561j B

A vA B x i + A vA B y j = 3.9665i + 3.2998j

Equating the i and j components yields

A vA B x = 3.9665 ft>s A vA B y = 3.2998 ft>s

Thus, the magnitude of vA is

vA = 2 A vA B x 2 + A vA B y 2 = 23.96652 + 3.29982 = 5.16 ft>s Ans.

and its direction is

A vA B y 3.2998
u = tan - 1 C S = tan - 1 ¢ ≤ = 39.8°
A vA B x
Ans.
3.9665

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•16–61. The rotation of link AB creates an oscillating

C
movement of gear F. If AB has an angular velocity of 100 mm
vAB = 6 rad>s, determine the angular velocity of gear F at
the instant shown. Gear E is rigidly attached to arm CD and
pinned at D to a fixed point. B 30⬚

150 mm
75 mm
vAB ⫽
6 rad/s
25 mm
A
D F

Kinematic Diagram: Since link AB and arm CD are rotating about the fixed points 100 mm
A and D respectively, then vB and vC are always directed perpendicular their their E
respective arms with the magnitude of yB = vAB rAB = 6(0.075) = 0.450 m>s and
yC = vCD rCD = 0.15vCD. At the instant shown, vB and vC are directed toward
negative x axis.

Velocity Equation: Here, rB>C = {-0.1 cos 30°i + 0.1 sin 30°j} m = {-0.08660i
+ 0.05j} m. Applying Eq. 16–16, we have

vC = vB + vBC * rC>B

-0.450i = -0.15vCD i + (vBCk) * (0.08660i + 0.05j)

-0.450i = -(0.05vBC + 0.15vCD)i + 0.08660vBCj

Equating i and j components gives

0 = 0.08660vBC vBC = 0

-0.450 = -[0.05(0) + 0.15vCD] vCD = 3.00 rad>s

Angular Motion About a Fixed Point: The angular velocity of gear E is the same
with arm CD since they are attached together. Then, vE = vCD = 3.00 rad>s. Here,
vE rE = vF rF where vF is the angular velocity of gear F.

v = a b (3.00) = 12.0 rad>s

rE 100
vF = Ans.
rF E 25

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16–62. Piston P moves upward with a velocity of 300 in.>s vP ⫽ 300 in./s
at the instant shown. Determine the angular velocity of the
crankshaft AB at this instant. P

5 in.
G
From the geometry: 2.75 in.
30⬚
1.45 sin 30°
cos u = u = 81.66° B
5

For link BP A
1.45 in.
vP = {300j} in>s vB = -yB cos 30°i + yB sin 30°j v = -vBPk

rP>B = {-5 cos 81.66°i + 5 sin 81.66°j} in.

vP = vB + v * rP>B

300j = ( -yB cos 30°i + yB sin 30°j) + (-vBPk) * (-5cos 81.66°i + 5 sin 81.66°j)

300j = (-yB cos 30°i + 5 sin 81.66°vBP)i + (yB sin 30° + 5 cos 81.66° vBP)j

Equating the i and j components yields:

0 = -yB cos 30° + 5 sin 81.66° vBP (1)

300 = yB sin 30° + 5 cos 81.66° vBP (2)

Solving Eqs. (1) and (2) yields:

vBP = 83.77 rad>s yB = 478.53 in.>s

For crankshaft AB: Crankshaft AB rotates about the fixed point A. Hence

yB = vAB rAB

478.53 = vAB(1.45) vAB = 330 rad>s d Ans.

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16–63. Determine the velocity of the center of gravity G vP ⫽ 300 in./s

of the connecting rod at the instant shown. Piston P is
moving upward with a velocity of 300 in.>s. P

From the geometry:

1.45 sin 30°

cos u = u = 81.66°
5
5 in.
G
For link BP
2.75 in.
30⬚
vP = {300j} in>s vB = -yB cos 30°i + yB sin 30°j v = -vBPk
B
rP>B = {-5 cos 81.66°i + 5 sin 81.66°j} in.

vP = vB + v * rP>B A

300j = (-yB cos 30°i + yB sin 30°j) + (-vBPk) * (-5 cos 81.66°i + 5 sin 81.66°j) 1.45 in.

300j = (-yB cos 30° + 5 sin 81.66° vBP)i + (yB sin 30° + 5 cos 81.66° vBP)j

Equating the i and j components yields:

0 = -yB cos 30° + 5 sin 81.66° vBP (1)

300 = yB sin 30° + 5 cos 81.66° vBP (2)

Solving Eqs. (1) and (2) yields:

vBP = 83.77 rad>s yB = 478.53 in.>s

vP = {300j} in>s v = {-83.77k} rad>s

rG>P = {2.25 cos 81.66°i - 2.25 sin 81.66°j} in.

vG = vP + v * rG>P

= 300j + (-83.77k) * (2.25 cos 81.66°i - 2.25 sin 81.66°j)

= {-186.49i + 272.67j} in.>s

yG = 2(-186.49)2 + 272.672 = 330 in.>s Ans.

u = tan - 1 a b = 55.6° b
272.67
Ans.
186.49

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*16–64. The planetary gear system is used in an automatic 40 mm

transmission for an automobile. By locking or releasing vR
certain gears, it has the advantage of operating the car at P
different speeds. Consider the case where the ring gear R is
held fixed, vR = 0, and the sun gear S is rotating at
vS = 5 rad>s. Determine the angular velocity of each of the R vS
planet gears P and shaft A.

S A
80 mm
vA = 5(80) = 400 mm>s ;

vB = 0

vB = vA + v * rB>A

0 = -400i + (vp k) * (80j) 40 mm

0 = -400i - 80vp i

vP = -5 rad>s = 5 rad>s Ans.

vC = vB + v * rC>B

vC = 0 + (-5k) * (-40j) = -200i

200
vA = = 1.67 rad>s Ans.
120

•16–65. Determine the velocity of the center O of the spool A

when the cable is pulled to the right with a velocity of v. The
spool rolls without slipping.
O
r
Kinematic Diagram: Since the spool rolls without slipping, the velocity of the v
R
contact point P is zero. The kinematic diagram of the spool is shown in Fig. a.

General Plane Motion: Applying the relative velocity equation and referring to Fig. a,

vB = vP + v * rB>D

vi = 0 + (-vk) * C (R - r)j D

vi = v(R - r)i

Equating the i components, yields

v
v = v(R - r) v =
R - r

Using this result,

vO = vP + v * rO>P

v
= 0 + ¢- k ≤ * Rj
R - r

R
vO = ¢ ≤v : Ans.
R - r

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16–66. Determine the velocity of point A on the outer rim A

of the spool at the instant shown when the cable is pulled to
the right with a velocity of v. The spool rolls without
slipping. O
r
v
R
Kinematic Diagram: Since the spool rolls without slipping, the velocity of the
contact point P is zero. The kinematic diagram of the spool is shown in Fig. a.

General Plane Motion: Applying the relative velocity equation and referring to Fig. a,

vB = vP + v * rB>D

vi = 0 + ( -vk) * C (R - r)j D

vi = v(R - r)i

Equating the i components, yields

v
v = v(R - r) v =
R - r

Using this result,

vA = vP + v * rA>P

v
= 0 + ¢- k ≤ * 2Rj
R - r

2R
= B¢ ≤vRi
R - r

Thus,

2R
vA = ¢ ≤v : Ans.
R - r

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16–67. The bicycle has a velocity v = 4 ft>s, and at the

same instant the rear wheel has a clockwise angular velocity
v = 3 rad>s, which causes it to slip at its contact point A.
Determine the velocity of point A.
4 ft/s

v ⫽ 3 rad/s

vA = vC + vA>C C

26 in.
B vA R = B 4 R + C a b (3) S
26
; : 12 A
;

vA = 2.5 ft>s ; Ans.

Also,

vA = vC + v * rA>C

vA = 4i + (-3k) * a -
26
jb
12

vA = 4i - 6.5i = -2.5i

vA = 2.5 ft>s ; Ans.

*16–68. If bar AB has an angular velocity vAB = 4 rad>s,

determine the velocity of the slider block C at the instant C
shown.
30⬚
For link AB: Link AB rotates about a fixed point A. Hence 200 mm

yB = vAB rAB = 4(0.15) = 0.6 m>s B

150 mm
For link BC vAB ⫽ 4 rad/s
60⬚
vB = {0.6 cos 30°i - 0.6 sin 30°j}m>s vC = yCi v = vBC k A

rC>B = {-0.2 sin 30°i + 0.2 cos 30°j} m

vC = vB + v * rC>B

yC i = (0.6 cos 30°i - 0.6 sin 30°j) + (vBC k) * (-0.2 sin 30°i + 0.2 cos 30°j)

yCi = (0.5196 - 0.1732vBC)i - (0.3 + 0.1vBC)j

Equating the i and j components yields:

0 = 0.3 + 0.1vBC vBC = -3 rad>s

yC = 0.5196 - 0.1732(-3) = 1.04 m>s : Ans.

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•16–69. The pumping unit consists of the crank pitman

6 ft 6 ft
AB, connecting rod BC, walking beam CDE and pull rod F.
If the crank is rotating with an angular velocity of C
0.75 ft E
v = 10 rad>s, determine the angular velocity of the D
walking beam and the velocity of the pull rod EFG at the
instant shown.
7.5 ft

v ⫽ 10 rad/s u ⫽ 75°
F
B
A
4 ft
Rotation About a Fixed Axis: The crank and walking beam rotate about fixed axes,
Figs. a and b. Thus, the velocity of points B, C, and E can be determined from G

vB = v * rB = A -10k B * A 4i B = C -40j D ft>s

vC = vCDE * rDC = A vCDEk B * A -6i + 0.75j B = -0.75vCDEi - 6vCDEj
vE = vCDE * rDE = A vCDEk B * A 6i B = 6vCDE j (1)

General Plane Motion: Applying the relative velocity equation and referring to the
kinematic diagram of link BC shown in Fig. c,

vC = vB + vBC * rC>B

-0.75vCDEi - 6vCDE j = -40j + (vBC k) * (-7.5 cos 75° i + 7.5 sin 75° j)

-0.75vCDE i - 6vCDE j = -7.244vBC i - (1.9411vBC + 40)j

Equating the i and j components

-0.75vCDE = -7.244vBC (2)

-6vCDE = -(1.9411vBC + 40) (3)

Solving Eqs. (1) and (2) yields

vBC = 0.714 rad>s vCDE = 6.898 rad>s = 6.90 rad>s Ans.

Substituting the result for vCDE into Eq. (1),

vE = u(6.898) = [41.39j] ft>s

Thus,

vE = 41.4 ft>s c Ans.

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16–70. If the hydraulic cylinder shortens at a constant rate

of vC = 2 ft>s, determine the angular velocity of link ACB
and the velocity of block B at the instant shown. A
B

General Plane Motion: Applying the relative velocity equation to points B and C 4 ft
and referring to the kinematic diagram of link ABC shown in Fig. a, 60⬚
4 ft
D u ⫽ 60⬚
vB = vC + v * rB>C
C
vB j = -2i + (-vk) * (-4 cos 60°i + 4 sin 60° j) vC ⫽ 2 ft/s

vB j = (3.464v - 2)i + 2vj

Equating the i and j components yields

0 = 3.464v - 2

vB = 2v

Solving,

v = 0.577 rad>s Ans.

vB = 1.15ft>s c Ans.

16–71. If the hydraulic cylinder shortens at a constant rate

of vC = 2 ft>s, determine the velocity of end A of link ACB
at the instant shown. A
B

General Plane Motion: First, applying the relative velocity equation to points B and 4 ft
C and referring to the kinematic diagram of link ABC shown in Fig. a, 60⬚
4 ft
D u ⫽ 60⬚
vB = vC + v * rB>C
C
vB j + -2i + (-vk) * (-4 cos 60° i + 4 sin 60° j) vC ⫽ 2 ft/s

vB j = (3.464v - 2)i + 2vj

Equating the i components yields

0 = 3.464v - 2 v = 0.5774 rad>s

Then, for points A and C using the result of v,

vA = vC + v * rA>C

(vA)x i + (vA)y j = -2i + ( -0.5774k) * (4 cos 60° i + 4 sin 60° j)

(vA)x i + (vA)y j = -1.1547j

Equating the i and j components yields

(vA)x = 0 (vA)y = -1.1547 ft>s = 1.1547 ft>s T

Thus,

vA = (vA)y = 1.15 ft>sT Ans.

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*16–72. The epicyclic gear train consists of the sun gear A

which is in mesh with the planet gear B. This gear has an
inner hub C which is fixed to B and in mesh with the fixed
ring gear R. If the connecting link DE pinned to B and C is 100 mm
rotating at vDE = 18 rad>s about the pin at E, determine 600 mm A B
the angular velocities of the planet and sun gears. E C

D
200 mm
vD E ⫽ 18 rad/s 300 mm

vD = rDE vDE = (0.5)(18) = 9 m>s c

The velocity of the contact point P with the ring is zero. R

vD = vP + v * rD>P

9j = 0 + (-vB k) * (-0.1i)

vB = 90 rad>s b Ans.

Let P¿ be the contact point between A and B.

vP¿ = vP + v * rP¿>P

vP¿ j = 0 + (-90k) * (-0.4i)

vP¿ = 36 m>s c

vP¿ 36
vA = = = 180 rad>s d Ans.
rA 0.2

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•16–73. If link AB has an angular velocity of E

vAB = 4 rad>s at the instant shown, determine the velocity
of the slider block E at this instant. Also, identify the type of
motion of each of the four links.
2 ft
1 ft D 30⬚
B

2 ft vAB ⫽ 4 rad/s
1 ft
C 30⬚
Link AB rotates about the fixed point A. Hence
A
yB = vAB rAB = 4(2) = 8 ft>s

For link BD

vB = {-8 cos 60°i - 8 sin 60° j} ft>s vD = -yDi vBD = vBD k

rD>B = {1i} ft

vD = vB + vBD * rD>B

-yDi = (-8 cos 60°i - 8 sin 60°j) + (vBDk) * (1i)

-yD i = -8 cos 60°i + (vBD - 8 sin 60°)j

A:
+ B -yD = -8 cos 60° yD = 4 ft>s

(+ c ) 0 = vBD - 8 sin 60° vBD = 6.928 rad>s

For Link DE

vD = {-4i} ft>s vDE = vDE k vE = -yEi

rE>D = {2 cos 30°i + 2 sin 30°j} ft

vE = vD + vDE * rE>D

-yEi = -4i + (vDEk) * (2 cos 30°i + 2 sin 30°j)

-yEi = (-4 - 2 sin 30° vDE)i + 2 cos 30°vDEj

A:
+ B 0 = 2 cos 30° vDE vDE = 0

A+cB -yE = -4 - 2 sin 30°(0) yE = 4ft>s ; Ans.

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16–74. At the instant shown, the truck travels to the right at

3 m>s, while the pipe rolls counterclockwise at v = 8 rad>s
v
without slipping at B. Determine the velocity of the pipe’s G
center G. 1.5 m

vG = vB + vG>B B

B v GR = c 3 # d + C 1.5(8) D
: : ;

vG = 9 m>s ; Ans.

Also:

vG = vB + v * rG>B

vGi = 3i + (8k) * (1.5j)

vG = 3 - 12

vG = -9 m>s = 9 m>s ; Ans.

16–75. At the instant shown, the truck travels to the right

at 8 m>s. If the pipe does not slip at B, determine its angular
v
velocity if its mass center G appears to remain stationary to G
an observer on the ground. 1.5 m

vG = vB + vG>B B

0 = c 8 d + c1.5v d
: ;

8
v = = 5.33 rad>s d Ans.
1.5

Also:

vG = vB + v * rG>B

0i = 8i + (vk) * (1.5j)

0 = 8 - 1.5v

8
v = = 5.33 rad>s d Ans.
1.5

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*16–76. The mechanism of a reciprocating printing table

is driven by the crank AB. If the crank rotates with an
B 1m
angular velocity of v = 10 rad>s, determine the velocity of v ⫽ 10 rad/s
point C at the instant shown. D

0.5 m 45⬚ A
75 mm
C

Rotation About a Fixed Axis: Referring to Fig. a,

vB = v * rB

= (-10k) * (-0.5 cos 45° i + 0.5 sin 45°j)

= [3.536i + 3.536j] m

General Plane Motion: Applying the law of sines to the geometry shown in Fig. b,

sin f sin 135°

= f = 20.70°
0.5 1

Applying the relative velocity equation to the kinematic diagram of link BC shown
in Fig. c,

vB = vC + vBC * rB>C

3.536i + 3.536j = vC i + (-vBC k) * (-1 cos 20.70° i + 1 sin 20.70° j)

3.536i + 3.536j = (vC + 0.3536vBC)i + 0.9354vBC j

Equating the i and j components yields,

3.536 = vC + 0.3536vBC

3.536 = 0.9354vBC

Solving,

vBC = 3.780 rad>s Ans.

vC = 2.199 m>s Ans.

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•16–77. The planetary gear set of an automatic

transmission consists of three planet gears A, B, and C,
mounted on carrier D, and meshed with the sun gear E and
A
ring gear F. By controlling which gear of the planetary set
D
rotates and which gear receives the engine’s power, the
automatic transmission can alter a car’s speed and
direction. If the carrier is rotating with a counterclockwise
angular velocity of vD = 20 rad>s while the ring gear is E
rotating with a clockwise angular velocity of vF = 10 rad>s, 75 mm
determine the angular velocity of the planet gears and the
45 mm
sun gear. The radii of the planet gears and the sun gear are
45 mm and 75 mm, respectively. C B
F
Rotation About a Fixed Axis: Here, the ring gear, the sun gear, and the carrier
rotate about a fixed axis. Thus, the velocity of the center O of the planet gear and the
contact points P¿ and P with the ring and sun gear can be determined from

vO = vD rO = 20(0.045 + 0.075) = 2.4 m>s ;

vP¿ = vF rF = 10(0.045 + 0.045 + 0.075) = 1.65 m>s :

vP = vE rE = vE(0.075) = 0.075vE

General Plane Motion: First, applying the relative velocity equation for O and P¿
and referring to the kinematic diagram of planet gear A shown in Fig. a,

vO = vP¿ + vA * rO>P¿

-2.4i = 1.65i + (-vA k) * (-0.045j)

-2.4i = (1.65 - 0.045vA)i

Thus,

-2.4 = 1.65 - 0.045vA

vA = 90 rad>s Ans.

Using this result to apply the relative velocity equation for P¿ and P,

vP = vP¿ + vA * rP>P¿

-0.075vEi = 1.65i + ( -90j) * (-0.09j)

-0.075vEi = -6.45i

Thus,

-0.075vE = -6.45 vE = 86 rad>s Ans.

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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

16–78. The planetary gear set of an automatic transmission

consists of three planet gears A, B, and C, mounted on carrier
D, and meshed with sun gear E and ring gear F. By
A
controlling which gear of the planetary set rotates and which
gear receives the engine’s power, the automatic transmission D
can alter a car’s speed and direction. If the ring gear is held
stationary and the carrier is rotating with a clockwise angular
velocity of vD = 20 rad>s, determine the angular velocity of E
the planet gears and the sun gear. The radii of the planet 75 mm
gears and the sun gear are 45 mm and 75 mm, respectively.
45 mm

Rotation About a Fixed Axis: Here, the carrier and the sun gear rotate about a fixed C B
axis. Thus, the velocity of the center O of the planet gear and the contact point P F
with the sun gear can be determined from

vO = vD rD = 20(0.045 + 0.075) = 2.4 m>s

vP = vE rE = vE (0.075) = 0.075vE

General Plane Motion: Since the ring gear is held stationary, the velocity of the
contact point P¿ with the planet gear A is zero. Applying the relative velocity
equation for O and P¿ and referring to the kinematic diagram of planet gear A
shown in Fig. a,

vO = vP¿ + vA * rO>P¿

2.4i = 0 + (vAk) * (-0.045j)

2.4i = 0.045vA i

Thus,

2.4 = 0.045vA

vA = 53.33 rad>s = 53.3 rad>s Ans.

Using this result to apply the relative velocity equation for points P¿ and P,

vP = vP¿ + vA * rP>P¿

0.075vE i = 0 + (53.33k) * (-0.09j)

0.075vE i = 4.8i

Thus,

0.075vE = 4.8 Ans.

vE = 64 rad>s Ans.

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16–79. If the ring gear D is held fixed and link AB rotates

with an angular velocity of vAB = 10 rad>s, determine the D
angular velocity of gear C.

0.5 m
Rotation About a Fixed Axis: Since link AB rotates about a fixed axis, Fig. a, the
velocity of the center B of gear C is A
0.125 m
vB = vAB rAB = 10(0.375) = 3.75 m>s
vAB ⫽ 10 rad/s
B
C
General Plane Motion: Since gear D is fixed, the velocity of the contact point P
between the gears is zero. Applying the relative velocity equation and referring to
the kinematic diagram of gear C shown in Fig. b,

vB = vP + vC * rB>P 0.375 m

-3.75i = 0 + (vC k) * (0.125j)

-3.75i = -0.125vCi

Thus,

-3.75 = -0.125vC

vC = 30 rad>s Ans.

*16–80. If the ring gear D rotates counterclockwise with

an angular velocity of vD = 5 rad>s while link AB rotates D
clockwise with an angular velocity of vAB = 10 rad>s,
determine the angular velocity of gear C.
0.5 m
Rotation About a Fixed Axis: Since link AB and gear D rotate about a fixed axis, A
Fig. a, the velocity of the center B and the contact point of gears D and C is 0.125 m
vAB ⫽ 10 rad/s
vB = vAB rB = 10(0.375) = 3.75 m>s B
C
vP = vD rP = 5(0.5) = 2.5 m>s

General Plane Motion: Applying the relative velocity equation and referring to the
kinematic diagram of gear C shown in Fig. b, 0.375 m

vB = vP + vC * rB>P

-3.75i = 2.5i + (vC k) * (0.125j)

-3.75i = (2.5 - 0.125vC)i

Thus,

-3.75 = 2.5 - 0.125vC

vC = 50 rad>s Ans.

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exist. No portion of this material may be reproduced, in any form or by any means, without permission in writing from the publisher.

•16–81. If the slider block A is moving to the right at

vA = 8 ft>s, determine the velocity of blocks B and C at
the instant shown. Member CD is pin connected to
member ADB. C
B
2 ft 2 ft
Kinematic Diagram: Block B and C are moving along the guide and directed
30⬚
towards the positive y axis and negative y axis, respectively. Then, vB = yB j and D
vC = -yC j. Since the direction of the velocity of point D is unknown, we can 2 ft
assume that its x and y components are directed in the positive direction of their 45⬚
respective axis.
A
Velocity Equation: Here, rB>A = {4 cos 45°i + 4 sin 45°j} ft = {2.828i + 2.828j} ft
and rD>A = {2 cos 45°i + 2 sin 45°j} ft = {1.414i + 1.414j} ft. Applying Eq. 16–16 to vA ⫽ 8 ft/s
link ADB, we have

vB = vA + vADB * rB>A

yB j = 8i + (vADB k) * (2.828i + 2.828j)

yB j = (8 - 2.828vADB) i + 2.828vADB j

Equating i and j components gives

0 = 8 - 2.828vADB [1]

yB = 2.828vADB [2]

Solving Eqs.[1] and [2] yields

vADB = 2.828 rad>s

yB = 8.00 ft>s c Ans.

The x and y component of velocity of vD are given by

vD = vA + vADB * rD>A

(yD)x i + (yD)y j = 8i + (2.828k) * (1.414i + 1.414j)

(yD)x i + (yD)y j = 4.00i + 4.00j

Equating i and j components gives

(yD)x = 4.00 ft>s (yD)y = 4.00 ft>s

Here, rC>D = {-2 cos 30°i + 2 sin 30°j} ft = {-1.732i + 1j} ft. Applying Eq. 16–16
to link CD, we have

vC = vD + vCD * rC>D

-yC j = 4.00i + 4.00j + (vCDk) * (-1.732i + 1j)

-yC j = (4.00 - vCD) i + (4 - 1.732vCD) j

Equating i and j components gives

0 = 4.00 - vCD [3]

-yC = 4 - 1.732vCD [4]

Solving Eqs. [3] and [4] yields

vCD = 4.00 rad>s

yC = 2.93 ft>s T Ans.

573