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Chapter 16

16.1

16.2

α = 10e−0.5t ω = −20e−0.5t + C1 θ = 40e−0.5t + C1 t + C2

Initial conditions: ω = θ = 0 when t = 0. ∴ C1 = 20 rad/s, C2 = −40 rad

∴ ω = −20e−0.5t + 20 rad/s θ = 40e−0.5t + 20t − 40 rad

When t → ∞, ω → 20 rad/s. ∴ ω ∞ = 20 rad/s 

When ω = 0.5ω ∞ :

10 = −20e−0.5t + 20 e−0.5t = 0.5 t = 1.3863 s

θ = 40(0.5) + 20(1.3863) − 40 = 7.726 rad = 1.230 rev 

16.3
dω dω dθ dω
α== = ω
dt dθ dt dθ
1 2
∴ ω dω = α dθ ω = αθ + C1 (α is constant)
2
Initial condition: ω = 6000 rev/min when θ = 0. ∴ C1 = 60002 /2 (rev/min)2
1
∴ (ω 2 − 60002 ) = αθ
2
When θ = 3600 rev, ω = 1200 rev/min.
1
∴ (12002 − 60002 ) = α(3600) α = −4800 rev/min2
2
dω
α= α dt = dω αt = ω + C2
dt
Initial condition: ω = 6000 rev/min when t = 0. ∴ C2 = −6000 rev/min
When ω = 0:

αt = C2 − 4800t = −6000 t = 1.250 min = 75.0 s 

275

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16.4
θ = −4t2 + 24t − 10 rad ω = −8t + 24 rad/s α = −8 rad/s2

(a) When t = 4 s:
ω = −8(4) + 24 = −8 rad/s  α = −8 rad/s2 
(b) Note that the rotation reverses direction when t = 3 s (obtained by setting ω = 0).
When t = 0, θ = −10 rad
When t = 3 s, θ = −4(3)2 + 24(3) − 10 = 26 rad
When t = 4 s, θ = −4(4)2 + 24(4) − 10 = 22 rad
The total angle turned through is θtot = (10 + 26) + (26 − 22) = 40 rad 

16.5

α = 4 + 6t ω = α dt = 4t + 3t2 + C1

θ = ω dt = 2t2 + t3 + C1 t + C2

Initial conditions: ω = 0 and θ = 0 when t = 0. ∴ C1 = C2 = 0

∴ ω = 4t + 3t2 θ = 2t2 + t3
When ω = 24 rad/s:
24 = 4t + 3t2 t = 2.239 s ∴ θ = 2(2.239)2 + 2.2393 = 21.3 rad 

16.6

276

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16.7

16.8

α = 12 rad/s2 ω = 12t + C1 rad/s θ = 6t2 + C1 t + C2 rad

Initial conditions: θ = 0, ω = −24 rad/s when t = 0. ∴ C1 = −24 rad/s and C2 = 0.

∴ ω = 12t − 24 rad/s θ = 6t2 − 24t rad

Note that the rotation reverses direction when t = 2 s (obtained by setting ω = 0).
When t = 0, θ = 0.
When t = 2 s, θ = 6(2)2 − 24(2) = −24.0 rad
When t = 4 s, θ = 6(4)2 − 24(4) = 0
The total angle turned through is θtot = 48 rad 

16.9

1/2 8
ω = 4t θ= ω dt = t3/2 + C
3
 
8 3/2
Δθ = θ|t=6 s − θ|t=0 s = (6) + C − C = 39.2 rad  
3

277

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16.10

θ = sin βt θ̇ = β cos βt θ̈ = −β 2 sin βt

at = Rθ̈ = −Rβ 2 sin βt

2
an = Rθ̇ = Rβ 2 cos2 βt

 
a= a2t + a2n = Rβ 2 sin2 βt + cos4 βt

The acceleration is maximized when

d
(sin2 βt + cos4 βt) = 0
d(βt)
2 sin βt cos βt + 4 cos3 βt(− sin βt) = 0

There are three solutions:

βt = 0 yielding a = Rβ 2
π
βt = yielding a = Rβ 2
2 √
π 3 2
βt = yielding a = Rβ
4 2
∴ amax = Rβ 2 

16.11
Pulley B:

v = (RB )o ω B 12.2 = 0.508ω B ω B = 24 rad/s 

a = (RB )o αB − 8.53 = 0.508αB αB = −16.8 rad/s2 

Belt between B and C:

v  = (RB )i ω B = .203(24) = 4.872 m/s

a = (RB )i αB = .203(−16.8) = −3.410 m/s2

Pulley C:

v  = RC ω C 4.872 = 0.61ω C ω C = 7.99 rad/s 

a = R C α C − 3.410 = 0.61αC αC = −5.59 rad/s2 

278

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16.12
Left pulley:

vA = (RA )i ω A 3.66 = 0.2286ω A ω A = 16 rad/s

2
(aA )n = (RA )o ω 2A = 0.61(16)2 = 156.2 m/s (aA )t = (RA )o αA = 0.610αA
2 2
aA = (aA )n + (aA )t 2
182.9 = 156.2 + 0.3721α2A
2 2
αA = 155.99 rad/s2

Right pulley:

v B = RB ω B 3.66 = 0.381ω B ω B = 9.61 rad/s

(aB )n = RB ω B = 0.381(9.61) = 35.19 m/s2
2 2

(aB )t = abelt = (RA )i αA = 0.2286(155.99) = 35.66 m/s2

 √
aB = (aB )2n + (aB )2t = 35.192 + 35.662 = 50.10 m/s2 

16.13
rA 50
ωB = ω A = (320) = 457.1 rad/s
rB 35
ω C = ω B = 457.1 rad/s
rC 20
ωD = ω C = (457.1) = 203 rad/s 
rD 45

16.14

279

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16.15

 × rC/O ; aC = α
(a) Vector eqns.: vC = ω  × rC/O + ω
 × (ω
 × rC/O ) = α
 × rC/O + ω
 × vC
rC/O = −406i + 356j + 305k in.  = −2.4j rad/s
ω  = 7.2j rad/s2
α
 
 i j k 

vC =  0 −2.4 0  = −732i − 974.4k mm/s 
 −406 356 305 
   
 i j k   i j k 
   

aC =  0 
7.2 0  = +  0  −2.4 0 
 −406 356 305   −732 0 974.4 
= (2196i + 2338.6k) + (2923.2i − 1756.8k) = 4534.6i + 1166.8k mm/s2 

(b) Scalar equations

vC = Rω = 508(2.4) = 1219.2 mm/s

∴ vC = −0.6(1219.2)i − 0.8(1219.2)k
= −731.5i − 975.4k mm/s 
(aC )n = Rω2 = 508(2.4)2 = 2926.1 mm/s2
(aC )t = Rα = 508(7.2) = 3657.6 mm/s2
∴ aC = [0.8(2926.1) + 0.6(3657.6)] i + [−0.6(2926.1) + 0.8(3657.6)] k
= 4534.4i + 1170.4k mm/s2 

16.16
0.36i + 0.54j − 0.3k
λAC = √ = 0.5035i + 0.7553j − 0.4196k
0.362 + 0.542 + 0.32
 
 i j k 
 

vB = ω × rB/C = 4λAC × (−0.54j) = 4  0.5035 0.7553 −0.4196 

 0 −0.54 0 
vB = −0.9063i − 1.0876k m/s 

αB = α × rB/C + ω × (ω × rB/C ) = α × rB/C + ω × vB

= 6λAC × (−0.54j) + 2λAC × vB
   
 i j k   i j k 
   
= 6  0.5035 0.7553 −0.4196  + 4  0.5035 0.7553 −0.4196 
 0 −0.54 0   −0.9063 0 −1.0876 
= −4.65i + 3.71j − 1.107k m/s2 
280

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16.17
Let w be the width of the tape.
dV1 = Vol. of tape leaving the reel during time dt is v0 hw dt
dV2 = Vol. change of tape on the reel (approx.) is − 2πRw dR
dR vo h
dV1 = dV2 : v0 h dt = −2πR dR =−
dt 2πR
v0
ω=
R  
dω dω dR v0 dR v0 v0 h v2h
α= = =− 2 =− 2 − = 0 3 
dt dR dt R dt R 2πR 2πR

16.18
−381j + 228.6k
ω = ωλCA = 25 √ = −21.44j + 12.862k rad/s
3812 + 228.62
rB/A = 305i − 228.6k mm
 
 i j k 
 
vB = ω × rB/A =  0 −21.44 12.862 
 305 0 −228.6 
= 4901.2i + 3922.9j + 6539.2k mm/s
= 4.901i + 3.923j + 6.539k m/s 
 
 i j k 
 

aB = ω × v B =  0 −21.44 12.862 

 4901.2 3922.9 6539.2 
= −190657i + 63039j + 105082k mm/s2
= −191i + 63j + 105k m/s2 

16.19
vB = vA + vB/A

(vB)y 2.44 m/s 2

o
= 60 +
B (vB)x A A B
0.61 m

+ −→ (vB )x = 2.44 cos 60◦ = 1.22 m/s

 √
∴ (vB )y = vB2 − (vB )2x = 1.832 − 1.222 = 1.364 m/s
+ ↑ (vB )y = 2.44 sin 60◦ + 0.61ω 1.364 = 2.44 sin 60◦ + 0.61ω
ω = −1.228 rad/s ω = 1.228 rad/s  
281

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16.20

Wheel rolls without slipping: vC = Rω = 0.533ω

vB = vC + vB/C

2.44 m/s 0.229

= 0.533 +
B B C
(vB)x C 0.229 m

+ ↑ 2.44 = 0.229ω ω = 10.655 rad/s  

vC = 0.533ω = 0.533(10.655) = 5.679 m/s −→ 

16.21

Wheel rolls without slipping: vC = Rω

vA = vC + vB/C + vA/B

B
R 2
AB 2R
vA R R
A = C
+ C B +
A
45o
2 2 R AB

√
+ ↑ 0 = Rω − 2 2Rω AB sin 45◦ ω AB = 0.5ω  
√ √
+ ←− vA = Rω + 2 2Rω AB cos 45 = Rω + 2 2R(0.5ω) cos 45◦
◦

vA = 2Rω ←− 

16.22

vO = vA + vO/A

1.83 m/s 1.22 m/s 0.762

O = A + O

0.762 m
.A
+ → −1.83 = 1.22 − 0.762ω ω = 4.0 rad/s  

282

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16.23

vA = vB + vA/B

A 0.16

0.16 m
0.5 m/s
A = 0.6 m/sB +
B

+ → 0.5 = −0.6 + 0.16ω ω = 6.875 rad/s 

vC = vB + vC/B

C 0.6875 m/s
vC

0.1 m
0.6 m/s
C = B +
6.875 rad/s
B

+ → vC = −0.6 + 0.6875 = 0.875 m/s → 

16.24

283

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16.25

16.26

vA = vB + vA/B

B .
vA
25

305 mm/s
= +
4m

A
m

B A
3
254 4

3
+ ↑ 0 = 305 − (254ω) ω = 2.0 rad/s
5
4 4
+ ← vA = (254ω) = (254 × 2) = 406 mm/s ← 
5 5

284

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16.27

16.28
D x
B
vB
y
A d 0.762 m
0.61 m/s

d csc
Solution I (scalar notation)

vB = vA + vB/A

d
vB B
d
vA
B =A + A

285

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 +  0 = −vA sin θ + ωd 0 = −0.61 sin θ + ω(0.762 csc θ)
ω = 0.8 sin2 θ rad/s  

Solution II (vector notation)

vB = vA + ω × rB/A
vB i = 0.61 cos θ i − 0.61 sin θ j + ωk × 0.762 csc θ i
vB i = 0.61 cos θ i − 0.61 sin θ j + 0.762ω csc θ j

Equating j-components:

ω = −0.61 sin θ + 0.762ω csc θ ω = 0.8 sin2 θ rad/s  

16.29

vC = vB + vC/B
ωCD × rC/D = ωAB × rB/A + ωBC × rC/B
ω CD k × 60i = −2.8k × (−30i) + ω BC k × (30i + 60j)
60ω CD j = 84j + ω BC (30j − 60i)

Equating like components:

−60ω BC = 0 ∴ ω BC = 0 
60ω CD = 84 ∴ ω CD = 1.40 rad/s  

16.30
y 381 D 152.4

203
B A E x

vB = vD + vB/D
ωAB × rB/A = ωDE × rD/E + ωBC × rB/D
6k × (152.4i) = ω DE k × (−152.4i + 203j) + ω BD k × (−381i − 203j)
−914.4j = ω DE (−152.4j − 203i) + ω BD (−381j + 203i)

Equating like components:

0 = −203ω DE + 203ω BD − 914.4 = −152.4ω DE − 381ω BD

ω BD = ω DE = 1.714 rad/s  
286

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16.31

16.32
y B
457
68

A 30o x
6

762 C

Geometry : 457 cos 30◦ + 686 cos φ = 762 φ = 57.73◦

rB/A = 457(i cos 30◦ + j sin 30◦ ) = 395.77i + 228.5j mm
rC/B = 686(i cos 57.73◦ − j sin 57.73◦ ) = 366.26i − 580.04j mm

vC = vB + vC/B
vC j = ωAB × rB/A + ωBC × rC/B
= 20k × (395.77i + 228.5j) + ω BC k × (366.26i − 580.04j)
= 7915.4j − 4570i + ω BC (366.26i − 580.04j) mm/s
287

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 Equating like components:
0 = −4570 + 580.04ω BC ω BC = 7.879 rad/s
vC = 7915.4 + 7.879(366.26) = 10801 mm/s ↑ 

16.33
vB = vA + vB/A

30o vB 20o 0.5

= + 0.5
2 m/s m

+ −→ vB sin 30◦ = 0.5ω sin 20◦ vB = 0.3420ω

+ ↑ vB cos 30 = −2 + 0.5ω cos 20◦
◦

(0.3420ω) cos 30◦ = −2 + 0.5ω cos 20◦ ω = 11.516 rad/s  

vC = vA + vC/A
(vC)y 11.516 rad/s o
20 11.516 m/s
+
C (vC)x = 2 m/s 1.0
m C

+ −→ (vC )x = 11.516 sin 20◦ = 3.939 m/s

+ ↑ (vC )y = −2 + 11.516 cos 20◦ = 8.822 m/s
√
vC = 3.9392 + 8.8222 = 9.66 m/s 

16.34
m B
0.4 0.25 m
A
0.25
θ = sin−1 = 38.68◦
0.4
vC = vB + vC/B
1.0 m/s C
38.68o
vC 38.68o 0.4 m
B
C = 0.4
m +0.4 BC BC B
.
2.5 rad/s .
A

+ ↑ 0 = (1.0 − 0.4ω BC ) cos 38.68◦ ω BC = 2.50 rad/s

+ ←− vC = (1.0 + 0.4ω BC ) sin 38.68 = [1.0 + (0.4 × 2.5)] sin 38.68◦
◦

= 1.250 m/s ←− 
288

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16.35

16.36

By geometry, the angle between BE and the

horizontal is ϕ = tan−1 (197.97/571.3) =
19.11◦ .
Solution I (using scalar notation)

Equating components:
+
→ −vD cos 19.11◦ = −3657.4 sin 60◦ + LBD ωBE sin 19.11◦ = −3167.57 + 197.97ωBE
+ ↑ −vD sin 19.11◦ = 3657.4 cos 60◦ − LBD ωBE cos 19.11◦ = 1828.7 − 571.3ωBE

Solving gives ωBE = 4.57 rad/s (CCW) 

16.37
vB 80 D
B
160 o y
30
A vA x

289

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 vB = vA + vB/A 30j = vA i + ωBD × rB/A
30j = vA i + ω BD k × 160(i cos 30◦ + j sin 30◦ )
30j = vA i + ω BD (138.56j − 80i)

Equating y-components:

30 = 138.56ω BD ω BD = 0.2165 rad/s

vD = vB + vD/B = 30j + ωBD × rD/B

= 30j + 0.2165k × 80(i cos 30◦ + j sin 30◦ )
= 30j + 15.0j − 8.660i = 45.0j − 8.660i mm/s
vD = 45.02 + (−8.660)2 = 45.8 mm/s 

16.38

290

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16.39

 AB = ωAB k rad/s ω
ω  0 = 5k rad/s ω
 BC = ωBC k rad/s
rB/A = 635j mm rB/D = −762 mm
rD/E = 381(sin 35◦ i + cos 35◦ j)
= 218.5i + 312.1j

vB = vD + vB/D

 AB × rB/A = ω
ω  0 × rD/E + ω
 BD × rB/D
ωAB k × 635j = 5k × (218.5i + 312.1j) + ωBD k × (−762)
−635ωAB i = 1092.5j − 1560.5i − 762ωBD j
Equating components: −635ωAB = 1560.5 ∴ ωAB = 2.46 rad/s (CCW) 
0 = 1092.5 − 762ωBD ∴ ωBD = 1.434 rad/s (CCW) 

16.40
127 mm
O B
508 mm/s
m
.4 m
305 mm
330

.
A vA
Point B is the I.C. of the disk.
vO = ω OB 508 = 127ω ω = 4 rad/s
vA = ω AB = 4(330.4) = 1322 mm/s 

16.41
305 mm/s

B 152.4 O
25

203
3
.8
m
m

vA
A
291

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 Point O is the I.C. of the disk.

vB = OB ω 305 = 152.4ω ω = 2 rad/s

vA = OA ω = 203(2) = 406 mm/s 

16.42

= 2.5 rad/s
300
vG
G O vO = 500 mm/s
3
2 e d = 200
C
Dimensions
in mm

vO 500
d= = = 200 mm
ω 2.5
The directions of vO and vG determine the location of the instant center C of the
wheel.
√
e = 3002 + 2002 = 360.6 mm
vG = eω = 360.6(2.5) = 902 mm/s56.3◦ 

16.43

292

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16.44

(b) Point C is the instant center:

(a) Point C (1.22 m, 0.915 m) is the instant
 
center  381
xC = 0, yC = 203 + (381)
203
= 918.1 mm 

16.45

293

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16.46
vC
vB
24 rad/s 80 120 B
A C B I.C. of B

vB = vA + vA/B = 0 + ω AB AB (A and B on the arm AB)

vB = 4.8(200) = 960 mm/s

vC = vA + vC/A = 0 + ω A AC (A and C on gear A)

vC = 24(80) = 1920 mm/s
The velocities vC and vB establish the instant center for velocities of gear B.
vC 1920
∴ ωB = = = 8 rad/s  
240 240
16.47
0.5 m/s
0.5 m/s
A
a 60 mm
C
I.C.
160 a 100 mm
B
0.6 m/s
0.6 m/s
Velocities of A and B establish the I.C. of the gear.
a 160 − a
= a = 72.73 mm
0.5 0.6
vA 500
ω= = = 6.875 rad/s  
a 72.73
vC = (a − AC)ω = (72.73 − 60) (6.875) = 87.5 mm/s → 

16.48
E BC
351.61 mm
mm
406

vB
B vC
30 o C
152.4 mm
203 mm 101.6 mm
6 rad/s 60o CD
A D

294

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 203
Geometry: BE = ◦
= 406 mm CE = 203 tan 60◦ = 351.61 mm
cos 60
vB = ω AB AB = 6(152.4) = 914.4 mm/s
vB 914.4
ω BC = = = 2.25 rad/s 
BE 406
vC = ω BC CE = 2.25(351.61) = 791.1 mm/s
vC 791.1
ω CD = = = 7.79 rad/s  
CD 101.6
16.49
The coordinates of the locus of the instant cen-
ter C are

xC = 1.53 cos θ m and yC = 1.53 sin θ m

Therefore, the locus of C is a quartercircle of

radius 1.53 m that is centered at point O. 

16.50
Point C is the instant center for the bar AB.
Similar triangles:
4.57 2.13
=
2.44 + a a
which gives a = 2.13 m 

vB 2.13
ω= = = 1.0 rad/s CCW 
a 2.13
vG = (4 + a)ω = (1.22 + 2.13)(1.0) = 3.35 m/s ∴ vG = −3.35j m/s 

16.51

295

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
16.52

16.53
vC
CD
60
D C

Dimensions
60

in mm

vB
2.8 rad/s
B 30 A

I.C. of link AB is point A. This determines the direction of vB .

I.C. of link CD is point D. This determines the direction of vC .
Since vB and vC are parallel, link BC is translating. Therefore,

ω BC = 0 
vB = vC

296

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
 From motion of link AB:
vB = AB ω AB = 30(2.8) = 84.0 mm/s
From motion of link CD:
vC = CD ω CD 84.0 = 60ω CD ω CD = 1.40 rad/s  

16.54
D C

mm
BC 762 mm/s

305
B
45o
vB

m
m
A
4
AB
2.
15

152.4 305
Geometry : = γ = 20.69◦
sin γ sin 45◦
β = 180◦ − 45◦ − 20.69◦ = 114.3◦
AC = CD = 3052 + 152.42 − 2(305)(152.4) cos 114.3◦ = 393.07 mm
AC 393.07
BD = ◦
− 152.4 = − 152.4 = 403.48 mm
sin 45 sin 45◦

vC 762
ω BC = = = 1.939 rad/s
CD 393.07
vB = ω BC BD = 1.939(403.48) = 782.3 mm/s
vB 782.3
ω AB = = = 5.13 rad/s  
AB 152.4
16.55
A 686 mm
E
12 rad/s 60o
38
1m

vD
m

D
vB B

BC
F
297

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
 AE 686
Geometry: BF = ◦
− AB = − 381 = 991 mm
cos 60 cos 60◦

vB = ω AB AB = 12(381) = 4572 mm/s

vB 4572
ω BC = = = 4.61 rad/s  
BF 991
16.56
12 rad/s B BC
A 381 mm F E

330 mm
vB

686 mm D vD

BF 686 − 330
Geometry: β = tan−1
= tan−1 = 42.75◦
DF 331
BE = BF + DF cot β = (686 − 381) + 330 cot 42.75◦ = 662.0 mm

vB = ω AB AB = 12(381) = 4572 mm/s

vB 4572
ω BC = = = 6.91 rad/s  
BE 662
16.57
vC C
BCD
E
0
61

B 457.5
F Dimensions
8 in millimeters
50 o
457.5
61

35 vB
A
0

48 rad/s vD
D

2 2 √
BF = BC − CF = 6102 − 457.52 = 403.48 mm
BF 403.48
BE = ◦
= = 492.56 mm
cos 35 cos 35◦
DE = DF + BF tan 35◦ = 457.5 + 403.48 tan 35◦ = 743.52 mm

vB = ω AB AB = 48(508) = 24384 mm/s

vB 24384
ω BCD = = = 49.50 rad/s  
BE 492.56
vD = ω BCD DE = 49.50(743.52) = 36.81 m/s → 
298

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
16.58
E
AD

30o 56
5.9
4m
m

52
8.2
8mm
610 mm D
mm
203
C vD
.
mm v
305 C

457.2 mm/s . 30o 60o .B

A

Point E is the I.C. of link AD. Its location is determined by the known directions of
the velocities at A and C.
305
AE = = 610 mm
sin 30◦
305
CE = = 528.28 mm
tan 30◦
√
DE = 528.282 + 2032 = 565.94 mm

vA = AE ω AD 457.2 = 610ω AD ω AD = 0.75 rad/s

vD = DE ω AD = 565.94(0.75) = 424.5 mm/s 

16.59

299

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
16.60
vB
AB B
E

203
vA
O 406 mm/s
A 76.2
101.6

12
7
C disk


2 2 √
Geometry: OB = AB − AO = 2032 − 76.22 = 188.2 mm
76.2 3
BE = AO + OB = 76.2 + (188.2) = 217.4 mm
101.6 4
127 5
AE = OB = (188.2) = 235.3 mm
101.6 4

vO 406
ω disk = = = 4 rad/s vA = ω disk AC = 4(127) = 508 mm/s
OC 101.6
vA 508
ω AB = = = 2.159 rad/s
AE 235.3
vB = ω AB BE = 2.159(217.4) = 469 mm/s ↑ 

16.61
2
0.2 AB
B y B
8 m/s 2 m
= x + 0.2 o
30o 30 o A 30
6 m/s 2 0.2 AB
A AB
(sense indeterminate)
AB

aB = aA + aB/A

x+  −6 cos 30◦ = 8 sin 30◦ − 0.2ω 2AB ω AB = 6.78 rad/s 

y+  −6 sin 30◦ = 8 cos 30◦ − 0.2αAB αAB = 49.6 rad/s2  

300

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
16.62 For α counterclockwise, the no-slip
condition gives aA = 305α mm/s2 ←

Equating components:
+
→ (aD )x = −305α + (4/5)(4572) + (3/5)(508α) = 3657.6 mm/s2 (1)
+ ↑ (aD )y = 0 + (3/5)(4572) − (4/5)(508α) = 2743.2 − 406.4α mm/s2 (2)

(a) Substituting α = −6.75 rad/s2 , (1) and (2) give:

(aD )x = 3657.6 mm/s2 and (aD )y = 2743.2 − 406.4(−6.75) = 5486.4 mm/s2

√ 6593.8 mm
aD = 3657.62 + 5486.42 = 6593.8 mm/s2 ∴ aD = 
 56.3◦

(b) Substituting α = 6.75 rad/s2 , (1) and (2) give:

(aD )x = 3657.6 mm/s2 and (aD )y = 2743.2 − 406.4(6.75) = 0

∴aD = 3657.6 mm/s2 → 

16.63
B

= 5 rad/s 25
4 rB/A
= 12 rad/s 2
10
1.6
.rA
y D/A v0
D a0
x

301

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
 No-slip condition gives
aA = Rα = 254(12) = 2540 mm/s2

α = −12k rad/s2 ω = −5k rad/s

rD/A = −101.6j mm rB/A = 254j mm R = 254 mm

(a)
aD = aA + aD/A = Rαi + α × rD/A + ω × (ω × rD/A )
= 254(12)i + (−12k) × (−101.6j) + (−5k) × [(−5k) × (−101.6j)]
= 3048i − 1219.2i + 2540j = 1828.8i + 2540j mm/s2 
(b)
aB = aA + aB/A = Rαi + a × rB/A + ω × (ω × rB/A )
= 254(12)i + (−12k) × 254j + (−5k) × [(−5k) × 254j]
= 3048i + 3048i − 6350j = 6096i − 6350j mm/s2 
(c) The acceleration of the end of the string is the same as the horizintal component
of the acceleration of point D on the spool:
a0 = 1829i mm/s2 

16.64
B

= 5 rad/s 25
4
= 12 rad/s2
10
1.6
.A
y v0
D a0
x

Note that the acceleration of point D on the spool is aD = (a0 →) + (aD )y ↑

aD = aA + aD/A

A
= 5 rad/s
(aD)y = 12 rad/s2
aA
D
406 mm/s2
=A + 101.6
101.6(12) = 1219.2 mm/s 2
D

101.6(5)2 = 2540 mm/s2

302

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
 Equating like components:

+ → 406 = aA − 1219.2 aA = 1625.2 mm/s2

+ ↑ (aD )y = 2540 mm/s2

∴ aD = 406i + 2540j mm/s2  aA = 1625.2i mm/s2 

aB = aA + aB/A

254(5) 2 = 6350 mm /s2

B 254(12) = 3048 mm /s2
1625.2 mm /s2
aB = +
A 254
= 5 rad/s
= 12 rad /s2
A

aB = (1625.2 + 3048)i − 6350j = 4673i − 6350j mm/s2 

16.65
A
aA 1.2 2
m/s 2
= B 8 m/s2 +
1.2

o
A 30
m

B = 2 rad/s

aA = aB + aA/B

+ ↑ aA = −1.2α sin 30◦ − 1.2(2)2 cos 30◦

+ −→ 0 = 8 − 1.2α cos 30◦ + 1.2(2)2 sin 30◦

The solution is α = 10.007 rad/s2 and aA = −10.161 m/s2

∴ aA = 10.16 m/s2 ↓ 

303

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
16.66 Let A and B be points on the disk.
vA + vB/A = vB

3 m/s
0.4 m B 1.0 m/s
A + A = B
0.4

+ ↑ 3 − 0.4ω = 1.0 ω = 5 rad/s  

Note that the belt accelerations shown in Fig. P16.66 are the tangential components
of the accelerations of points A and B on the disk.
aA + aB/A = aB

0.5 m/s 2
2 0.2 2
0.4 m 0.4
A
0.2 2 + A
B = B
, 0.4 1.2 m/s2

+ ↑ 0.5 − 0.4α = −1.2 α = 4.25 rad/s2  

16.67
vC
C
mm
406

vB
B 203 mm 15 rad/s
A
203
ω BC = 0(vB and vC are parallel) β = sin−1 = 30◦
406
aC = aB + aC/B

203(15) 2 mm/s 2 406 BC C

30o
mm

aC = 203 mm 15 rad/s +
406

B A BC
B

+ → 0 = 203(15)2 − 406αBC cos 30◦ αBC = 129.9 rad/s2

+ ↑ aC = 406αBC sin 30◦ = 406(129.9) sin 30◦ = 26370 mm/s2 ↑ 
304

c 2017 Cengage Learning. All Rights Reserved. May not be scanned, copied or duplicated, or posted to a publicly accessible website, in whole or in part.
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