Kinematics: Planar Motions

0.3 m
Prob. 1 0.3 m B
If link OA of the four-bar mechanism has a
M 90o
constant angular velocity  O A  1 0 rad/s and the
distance OC= CB, determine: A
- the velocity of point M on link AB,
0.6 m 
- the angular velocity of link BC,
- the angular acceleration of link BC. 90o 60o
O C

Prob. 2
The crank OA is rotating with a constant angular
velocity  O A  6 rad/s. At the instant, determine: 0.5 m

- the velocity of point M on link AB, B

0.5 m
- the velocity of the collar B,
- the acceleration of the collar B. M
90o A
 450
O
0.3 m

0.2 m
Prob. 3
The link OA rotates with an angular velocity  O A  5
rad/s and an angular acceleration  O A  2 rad/s2. If the
M B
wheel rolls without slipping, determine at this instant:
 the angular velocity of link AB.
 the velocity of point M on the wheel
 the angular acceleration of link AB.


O 60o
A

0.2 m 0.2 m
Prob. 4 0.5 m
C
The block A of the quick-return mechanism is confined to
move within the slot in member BC. If crank OA is
 
rotating with an angular velocity  O A  6 rad/s and an O
angular acceleration  O A  2 rad/s2, determine the angular
A
velocity and angular acceleration of member BC at the
instant shown.

30o

Kinetics: Works and Energy

Prob. 5 0.5 m
Disk A is attached to the 8-kg block C using the cable of
negligible mass and pulley B as shown. A motor transmits
a torque of M = 60 Nm to the center of disk A. Disk A has A
a mass of 20 kg and a radius of gyration of 0.4 m, whereas
pulley B has a mass of 2 kg and a radius of gyration of 0.1
M
m. Determine the acceleration of the block C. Also, what
is the tension in the cable?

0.2 m G

Solution of Prob. 1.
Velocity

Link OA to rotate about point O as shown. Hence, vA is

directed perpendicular to OA. The instantaneous center
of zero velocity for AB is located at the intersection of
 IC

30o
the line segments drawn perpendicular to vB and vA.
rB/IC From the geometry,
rA/IC = (0.6 m)/sin 30o = 1.2 m
rA/IC vB
rM/IC rB/IC = (1.2 m) cos30° = 1.04 m

rM/IC = 2
( 0 .3 )  (1 .0 4 )
2
 1 .0 8 2 m
B
vM
vA M Since the magnitude of vA, is known, the angular

A BC velocity of link AB is

vA rA / O  O A ( 0 .6 ) (1 0 )
      5 ra d /s
0.6 m AB
rA / IC rA / IC 1 .2

60o The velocity of M is therefore

O C
vM   AB
rM / IC
 5 .4 1 m / s

(aB)t
The velocity of B is B
vB   AB
rB / I C  5 .2 m / s rB/A
(aB)n
From the figure rB / C  rB / I C  1 . 0 4 m , the angular velocity of BC is (aB/A)n
(aB/A)t
vB A
 BC   5 ra d /s .
rB / C aA

Acceleration
Applying acceleration equation  a B  t  a B n  a A  a B/A t  a B/A  n to points A and B, we have

 aB t   a A cos 60   a B / A n
0

where  a B / A  n  rB / A 
2
AB
 ( 0 .6 ) ( 5 )
2
 1 5 m / s , a A  r A / O  O A  ( 0 . 6 ) (1 0 )
2 2 2
 6 0 m /s
2

Solving, we have
aA
 a B t    a B / A n  45 m/s2
2

The angular velocity of link BC is

 a B t 45
 BC
   4 3 .2 7 rad/s2
rB / C 1 .0 4

Solution of Prob. 2.
 IC (aB/A)t
B
450
B
vB M rB/A
A aB
vM (aB/A)n
vA
 45 0 A
O aA

From the geometry,

rA/IC = rB/A =1.0 m, rB/IC = 2 m = 1.41 m, rM/IC = 2

( 0 .5 )  (1 )
2
 1 .1 2 m

vA rA / O  O A ( 0 .3 ) ( 6 )
 AB
    1 .8 r a d / s
rA / IC rA / IC 1 .0

vM   AB
rM / IC
 2 .0 2 m / s and vB   AB
rB / I C  2 .5 4 m / s

Applying acceleration equation a B  a A  a B/A t  a B/A n

 aB / A n
0
a B cos 45 

where  a B / A  n  rB / A 
2
AB
 (1) (1 .8 )
2
 3 .2 4 m / s
2

Solving, we have aB  2  aB / A n  4 .5 8 m/s2

vM
(aB/A)t
B
M vB aB

B
(aB/A)n

Solution of Prob. 3.  

O 60o 60o
IC A A
(aA)n
(aA)t
vA
From the geometry,
rA/IC = 0.4 m, rB/A = 0.8 m, rB/IC = 0.8 sin60o=0.69 m
vA rA / O  O A ( 0 .2 ) ( 5 )
 AB
    2 .5 r a d / s
rA / IC rA / IC 0 .4

vB
vB   AB
rB / I C  1 .7 2 5 m / s and d   8 .6 ra d /s
0 .2

v M   d 0 .2 2  2 .4 4 m / s

Applying acceleration equation aB   a A t  a A n  a B /A t  a B /A n

0   aB/A n cos 30   a B / A t cos 60   a A t
0 0

where  a B / A  n  rB / A 
2
AB
 ( 0 .8 ) ( 2 .5 )
2
 5 m /s ,
2
 a A t   O A r A / O  ( 0 .2 ) ( 2 )  0 .4 m / s
2

Solving, we have  a B / A  t  9 .4 6 m/s2. The angular acceleration of link AB is

 a B / A t 9 .4 6

2
AB
   1 1 .8 3 r a d / s
rB / A 0 .8

Solution of Prob. 4

Coordinate Axes. The origin of both the fixed and moving

frames of reference is located at B. Furthermore, the x, y
 x

Y C

reference is attached to and rotates with rod BC so that the

 
relative motion of the block A is easy to follow. O

BC
o
30

Kinematic Equations y
X
v A
 v B
 Ω  rA / B   v A / B  x y z (1)

a A
 a B  Ω  r A / B  Ω   Ω  r A / B  2Ω   v A / B  xyz   a A / B  xyz (2) B

All vectors will be expressed in terms of i, j, k components.

Motion of block A
Since the block A moves along a circular path, its velocity and acceleration can be determined as

 6k    0 .5 c o s 6 0 i  0 .5 c o s 3 0 j    2 .6 i  1 .5 j m /s
0 0
v A
 ω OA
 rA /O 

 α OA  rA /O   OArA /O   2 k    0 .2 5 i  0 .4 3 3 j   6  0 .2 5 i  0 .4 3 3 j 
2 2
a A

2
  5 .6 3 i  1 6 .1 j m /s

Substituting the data into Eqs. (1) and (2), we have

 2 .6 i  1 .5 j  0  (   BC
k )  (1 . 0 i )   v A / B  xyz ( i)

 BC  1 .5 ra d /s , ω BC
  BC ( k )

 v A / B  xyz  2 .6 m /s

 5 . 6 3 i  1 6 . 1 j  0  ( BC
k )  (1 . 0 i )  (  1 . 5 k )   (  1 . 5 k )  (1 . 0 i ) 

 2 (  1 .5 k )  (  2 .6 i )   a A/B  xyz i

  
2
BC
 8 .2 9 ra d /s , α BC BC
k

Solution of Prob. 5

Equation of motions
Disk A:  M A
 I A A
: I A A
 M  T1 r A (1)
 0.5 m
y
 Fy  m B a G  m B a G   T3  m B g  T1  T 2 (2)
Pulley B:
A
 M G
 IG B
 IG B
 T1 r B  T 2 r B (3)

Block C:  Fy  m C a C  m C a C  T3  m C g (4)
60 Nm
Kinematics
T1
aG  aC ,  B
 a C / rB ,  A
 2 a C / rA mA g

T2 T1
mB g
Equations for 4 unknowns T1 , T2 , T3 and aC T3

0.2 m G
2 aC
IA  M  T1 r A
rA
B C
m B a C   T3  m B g  T1  T 2

aC T3 mC g
IG  T1 r B  T 2 r B
rB

m C a C  T3  m C g

2 2 2 2 2
I A  2 0( 0 .4 )  3 .2 k g m , I G  2( 0 .1 )  0 .0 2 k g m , g  9 .8 1 m / s ,
where
m C  8 kg, m B
 2 k g , rB  0 . 2 m , r A  0 . 5 m .

Solving this system of equations we get the acceleration aC of the block C and the tension in the
cable T1 , T2 , T3 .

Solution of Prob. 6

F
400 mm 500 mm

A F1 B

150 mm

9
Friction force F1   k N   k F  4 .3 2 N
5
2
mr 2 F1
   F1 r    
2
Equation of motion of the cylinder:   3 .8 4 rad / s
2 mr
0 40
0  0   t  t    1 0 .4 s
 3 .8 4