PROBLEM 15.1 ‘The motion ofa rotor is defined by the relation @=81" ~6(¢-2)*, where 4 and ¢ are expressed in radians and seconds, respectively. Determine (when the angular acceleration is 2210, (b) the angular coordinate and angular velocity at that time ‘SOLUTION 0 = 80 ~ 6(¢~ 2) radians Anatase onl e2ut 124-2) is : Angas =f tan dt (0 Wen tensa ise, au () Angra nd angsty 10250 (8)(0.250)' - (6)(0.250 - 2)" = (24)(0250) ~(12)(0250-2) 1025084 6 =-18.25 radians = 25 mis <PROBLEM 15.6 The angular acceleration of a Aywheel is defined by the relation @ = 30%, where a and 1 are expressed in rad’ and seconds, respectively. Knowing that 0 0 and «= 0 at 0, determine the an velocity and angular coordinate ofthe particle when = 0. s ‘SOLUTION Angular acceleration: Angular velocity: When = 0. Angular coordinate: Whens= 05, = 05+ [lade 204 30/fe4%a 1427 ads 8 =, + font 1501 —750(1 ~e*) 6 =(.0)(05)~730(t-e**2))PROBLEM 15.9 “The rectangular block shown rotates about the diagonal O4 with a constant angular velocity of 6.76 rad/s. Knowing that the rotation is counterclockwise as viewed from 4, determine the velocity and acceleration of point B at the instant shown. ‘SOLUTION Teo = (427 m)i + (792 m)j + (305 mk 127 mh + (396 m)j ‘on Angular velocity 6.16, 99 = 228 (1271 + 792) + 3051 rso = S70 (1271 +792) + 208K) = (10 rad's)i + (6.24 radis)j + (24 rads) Velocity of poin vp =|L0 624 24) = 981 +308) —396K 127.396 0 Vp =—(95 mi + (305 m/s) ~ (396 m/s) Acceleration of point 2 i oj ok a=] 10. 624 24 |=-32 - 1884] +6233k 98305396 (5.2 msi) (1.88 ms!) + (623m3)uPROBLEM 15.11 ‘The assembly shown consists of two rods and a rectangular plate BCDE ‘which are welded together. The assembly rotates about the axis 4B with a constant angular velocity of 10 rad/s. Knowing that the rotation is counterclockwise as viewed from B, determine the velocity and acceleration of comer E. SOLUTION yg = (500 man)i ~ (225 mum)j + (300 mm)k = (0 mi ~ (0.225 m)j + (0.3 mK gg = NOS" FOS $0 = 625m Angular velocity vestor: o, _ 10 = ry, = (osi—0225) + 038 das! ” ) = (8 radis)i~ (3.6 mas) + (4.8 ads) op = -(300mm)k = (0.3 m)k Velocity of E: Vp = OX top 081 + 245 oa 0a] vg = (080m) +(240.m)j- Acocleation of E: ILLS + 5.184] + 23.088K. (i1soms?).+ (ssms?)p + (28.108 kePROBLEM 15.17 A series of small machine components being moved by a conveyor belt passes over a 120-mm-radis idler pulley. At the instant shown, the velocity of point is 300 mm/s to the Ieft and its acceleration is 180 mms? to the right. Determine (a) the angular velocity and angular acceleration of the idler pulley, (6) the total acceleration of the machine ‘component at 2 ‘SOLUTION vp == 300mm ry = 120mm, (a5), = 4, =180 mms @ =O, 300 <2 suds) @=2.50 rads) 4 ma 120 (0p), =m, = 84 219 sents?) a=1500nds!) 4 ek 120 ? ? i) (ap), = m9 = (120)(25) = 750 mans? | ay = yay); + (ay), = Y(i80)' + (750) = 771 mms? tanB = 22, p= 765° ay = T7immé? W 76574 180°@) 0 PROBLEM 15.19 The belt shown moves over two pulleys without slipping, At the instant shown, the pulleys are rotating clockwise and the speed of point B om the belts 3.66 mis inereasing atthe rate oF 29.3 m.s. Determine, at this instant, (@ the angular velocity and angular acceleration of each pulley, (6) the avceleration of point P on pulley C. SOLUTION Lot vy and ay be the belt spoed and acceleration. These are given as vp =3.66 mis vb ag=29.3 mis “These ate also the speed and tangential acceleration of periphery ofeach pulley provided no slipping occurs, (@) Angular velocity and angular aeceleration of each pulley: Pulley 4: Paley ©: (8) Acceleration of point Pon 14 =8in.= 203m 3.66 iy =a a =288 nds ) 4 = 82 a, =230 ras?) € pulley C= (a), = = =e a= lar} + (an), = 29.37 + (1055) = 109.5 mvs? eS ean, tan = ogg B= 15.52 ay = 109.5 mis? 7 15.52° 4= PROBLEM 15.31 ‘Two friction disks 4 and B are to be brought into contact without slipping _ ‘when the angular velocity of disk is 240 mpm counterclockwise, Disk A sits from rest at time ¢= 0 and is given a constant angular acecteration ‘of magnitude ce. Disk B starts from rest at time 4 = 2 s and is given a ‘constant clockwise angular acceleration, also of magnitude ¢f, Determine * fa (a) the required angular acceleration magnitude or, (b) the time at which the contact occurs ‘SOLUTION When contact is made, Let C be the contact point between the two gears vo =r Subtracting, on @ = 3.14 rads? o 1 1=80084PROBLEM 15.35 Television recording tape is being rewound on a VCR reel whieh rotates with a constant angular velocity ag. Denoting by rthe radius of the reel at any given time and by B the thickness ofthe tape, derive an expression forthe aeceteration of the tape as it approaches the ree. ‘SOLUTION Let one layer of tape be wound and let vbe the tape speed, var=2mr and r= For the ree:PROBLEM 15.39 Rod 4B can slide freely along the floor and the inclined plane. At the instant shown, the velocity of end A is 1.28 mvs to the left, Determine (a) the angular velocity of the rod, (6) the velocity of end B of the od, ‘SOLUTION 300m a 12.7em By = 1.28mi Geometry: HS) ip: gear sinB = 35, B=3087 305g 679° tine = 95, 9 =6728 Velocity analysis v4 = 128mis « Vag = Oy = 508 ON B eam 20 Plane motion = Translation with A + Rotation about 4 a Draw velocity-vestor digram. 6 = 180° 8 - (0B Law of Sines: ws ‘ a Sind ~ Sin(o0" = B) ~ sing ng = PSI = LA8SiNGT IEE 7 ay, sing sins949" 137, oy Oy = “Be = 2710s 0 =2.01ds) 4 a vp = SB, 12803087 8 yg sing sinS9.49° vg =LI8mis 7 6744PROBLEM 15.40 Rod 4B can slide freely along the floor and the inclined plane. At the instant shown, the angular velocity of the rod is 42 radis counterclockwise. Determine (a) the velocity of end 4 of the rod, (6) the soon velocity of end B of the rod. SOLUTION Geometry: 8 sinB 305 B= 3687 i / [osm a =a na" Velocity analysis: A 127em yy = 42 as) Vave = Fudan = (.508)(4.2) = 2.13 avs NB 8 Pane motion = Translation with A + Rotation about A sector diagram. @ = 180°-9 ~ (00° ) = 9.49" Law of Sine: Sino * sin(@o" =A) ~ sine wo 2iasins9.49 nT <4 vaneonB _ 2.136063687° i b 36.7 sin@ sin67.3N"Uy PROBLEM 15.41 The disk shown moves in the ay plane. Knowing that (y,), = —7 ms (he = TA mis, and (ve), =-L4m’s, determine (a) the angular cog velocity ofthe disk, (b) the Velocity of point B ‘SOLUTION Tnuanits of mis ‘Components: ‘Components: From (3), (a) From(), From), o Vo =k Xt = 08 X(0.61+06) = 0608 + 0.60) Nou = Ok X Fog = he X1.25 20) -TA1 + (09), 1= (04) 1-7) 060 + 0.605 wo 2 @ o = 1000nds") yp = (740 ms)i = (1.000 ms}PROBLEM 15.42 In Prob. 15.41, determine (a) the velocity of point O, (6) the point of the disk with zero velocity rene eos SOLUTION Inunits of m/s, Ving = Ob 4 = a «(064 +06)) = 0.64 + 0.60} Ven =O Xty4 = 0 X121 = 1205 Components “ i: (v9), =-7 + 0.60 2 “14+ (ve), = (v4),1- 7141204 Components: i: 14 =(4), 6 i: (ve), = 74120 “ From(3), Lams, vy =-141-75 From(1), =a Oral, @ =(10.00 ads) @ Vo = Va + Yan = V4 +X Foy = V4 +10K (0.64) 141 0 = -.At=1j +108 (1+ 9f) = 141-1) + 109-1095 Components i: 0=-14-10y, odm y 1410, x Lm x= 100.0mm4PROBLEM 15.45 Rod AB moves over a small wheel at C while end A moves to te right with a constant velocity of 63.5 em’s At the instant shown, determi (a) theangular velocity of the rod, (6) the velocity of end B of the rod, Velocity analysis vy=@5ms—-, ve =e LO Vou = ACO NO Draw eortesponding veetor diagram, You = ¥4Sin@ = 638sin35° =.57 mis 31 @ Oy Tetsu yy = 18radls >) cost = .635e086 = 2 ms Yme = CBO gy = (198)(1.8) = 3564 ms ac has same diection a8 #64 Draw corresponiling vector diagram. tH 3 says tang BE Sg a a ny Geel | oe 3 m/s cond coma 040 = 04° vy = 6B mis 694°PROBLEM 15.51 Inthe planetary gear system shown, the radius of gears 4, B, C, and D is (60 nm and the radius of the outer gear E is 180 min. Knowing that geat E hasan angular velocity of 120 rpm clockwise and thatthe eeotral pear has aan angular velocity of 150 rpm clockwise, determine (a) the angular ‘locity of cach planetary gear, (b) the angular velocity of the spider ‘connecting the planetary gears Leta be the radius ofthe central gear A, and let b be the radi of the planetary gears B, C, and D. The radius ofthe outer gear Eis a + 2b. Label the contact point between gears A und B as 1, the center of gear B ‘as 2,and the contact point between gears Band £38 3 Goar ¥ = 40, | o Spider: v2 = (a+b)0s | Gear B v= tba | o Wyo Fy | ” Goar B 4» = (a+ 26)em | 0) From (4) and (5), 5 + buy = (0+ 2b), From (1) and (3), 1 — Bip = v1 = 04 ” (a+ 2b), +004 Solving for vs and we 3 (a +26), — a0 = 2 lal « (a +2b)o, +00, amen | ree |e 2(a+8) Data: @ = 60 mm, b= 60mm, a +26 = 180mm, a+b = 120mm 1s, — 60 @ Oy = gay = 1s 0504 (1.5)(120) -(05)(150) = 105 pm ©, =1050mm) 4PROBLEM 15.51 CONTINUED = 180m + 6004 Oe = BNO) 0.750, + = (0.75)(120) + (0.25)(080) = 127.5 pm @ =127Sqm)€PROBLEM 15.57 Knowing that the disk has a constant angular velocity of 15 rads clockwise, determine the angular velocity of bar BD and the velocity af collar D wien (a) @ = 0, (6) 8 = 90°, (c) @ = 180, 2, = 1S rads), AB =.071 m Rotation about fixed axis: vy = (4B) 0, = (071)(15) = 1.065 mis (ao =0 p= 1.065 mis sinp= 7, p=to200 [1.065 —~ }+[vne = 6] vay BE ot yp = “BE a yy = 438 rads ~ vp = pn B, vp =stmis fl a ) 6 = 997 vg = 1065 mis | "Ae B= 406° : Bur BD: Vo _ v |= [1.068] 1+[rou SB] Components: Yor =9 > fo =% ey) =0 4 % Vp = 1.065 mis |PROBLEM 15.61 In the engine system shown, = 203 em and b= 7.6 cm. Knowing that the crank AB rotates with « constant angular velocity of 1000 gpm clockavise, \ determine the velocity of piston P and the angular velocity of the conneeting rod when (a) 8 = 0, (6) @ = 90°. SOLUTION ((000)(28) 104.72, ) oy ; (a) 6 = 6°. Crank AB, (Rotation about A) tg T TC se Rod BD: (Plane motion = Translation with B + Rotation about 8) : a Yo =¥o+¥ne (195 —] [ron] Y= 0, Yn = 7.96 m/s w= ¥p vprod 1.96 5 =393 rads’) Op = “B= oy y< s woe () 0 =90°. Crank AB. (Rotation about A) rp = 076m —+ ai = + Va = Fn ayy = (076)(104.72) = 7.96 mvs | ‘eee Rod BD: (Plane motion = Translation with B + Rotation about B) 96| +[vnoe 7B] ¥p = 7.96 mis ~ Op =0-4 96 mis | vp 96 ms |PROBLEM 15.69 ‘An automobile travels to the right at a constant speed of 80 km/h, Ifthe diameter ofthe whee! is 6 mm, determine the velocities of points B, C, D, and E on the rim of the whoo. SOLUTION v4 =80 knvh = 22222 ms Ye & we 2 4-280 mm =028.0 79:364 rads) vyp=H4ms— » 22.202 mvs — + [22.222 mis 30°] 9 ms. 2150" 22.202 mis —- ]+[22.222 ms |] vp =314 ms SA50°4PROBLEM 15.70 ‘The 10.2-cm-radiuswheel shown rollstotheleftwithavelocity of I 14 3emis Knowing that the distance AD is 635 em, determine the velocity of the collar and the angular velocity of rod AB when (a) B= 0, (0) B= 90° SOLUTION (@ p=0 Wheel AD: Ye 14s — Oy = 22 = E48 9 ays instantaneous center of rotation of the whee, (b) the velocity of point B, (c) the velocity of point D. ‘SOLUTION 12.86 mmm C lies 42.9 mm below 4. 6+ 0.08286 = 0.64286 m © (0.30286) S558 m 5.95 ms Vp =1595 mis.41.2° €eo PROBLEM 15.76 At the instant shown during acceleration, the velocity of an automobile is 12 ms to the right. Knowing thatthe velocity ofthe contact point 4 of the wheel with the ground is 1.5 mvs to the left, determine (a) the instantancous center of rotation ofthe wheel, (b) the velocity of point B, (6) the velocity of point E. SOLUTION @ 33.33mm C lies 33.3 mm above d. o 3 + (03 ~040333) = 0.56667 m ‘» (0.56667)(48) = 25.5 ms 55 mk —- (0) ag = 0.3m, Loe = 03-~0.03333 = 0.26667 m (0.3)? + (0.266677 4ol4n vp = 18.06 mss?PROBLEM 15.81 ERE 1, eon har at ist town he angular why of bar BC 8 Sstqq PTB S. |8 rad’s counterclockwise, determine (a) the angular velocity of bar 4B, [7 (oye angular velocity of bar BC, (e) the Velocity ofthe midpoint of bar di SOLUTION Bar DC. (rotation about D) Bar AB, (cain abo) 1 Ase Locate the instantaneous center (point) of bar BC by noting that velocity directions at ro points are known, Extend lines 4B and CD to intersect at. For the given configuration, point eoineides with D. 2543 m a2 2315 rads Oy = 315 mds) el 254 8.00 rads”) o (©) Locate poiat M, the midpoint of bar BC. ‘Triangle [CM is an equilateral iangle. IM =.284m Vay = (UM edge = (254)(18) =4.57 mis vy =457ms 730°PROBLEM 15.85 In the position shown, bar DE has a constant angular velocity of 15 rad’s clockwise. Determine (a) the distance b for which the velocity of point F is vertical, (6) the corresponding velocity of point F. SOLUTION DE = V320" + 240 = 400 mm, B=3687° Yp = Omi FB, ve Locate point C, the instantaneous of bar DBF, by drawing BC perpendicular to vp and DC perpendicular wore = Prom the figure: BC = AC~ AB = 720~ (320 +100) = 300 mm triangles FCB and BDK are similar, _b _ DK _ 300, _ (300)(300) BC” BK 10° 100 (0) Distance 6 =0.900m4 cp = 43007 +400 = S00 mm = 0.5 m 2 rads vp = Deane = (0.900)(1 () Velocity of point F: vp =10.890 ms | 4PROBLEM 15.105 Collars # and D are pin-connected to bar ABD and can slide along fixed ‘ods. Ache instant shown the an ‘acceleration of point Dis 7.2 mis" to the right, Determine (a) the acceleration ofthe ar, (b) the acceleration of pint B,(c) the aoeeleration SOLUTION = 04-0, ype =), ay = ay SHO", Fyp OAS m SM", egy = 09m 30° a =p + (Ag), + oe), [ay 60°] = [72 — ]+ ose > 0°] + [(0.45)(07) =30'] Components AL: agoos60° = 7.2 ~ (0.45c0860°)or +0 0 +|: agsin6or=(045sin60)a og = 0450 Substituting into (1), (08 c0s60°)ee = 7.2 ~ (0.45 c0860")ez @ aye = lorie euge = 16.00 ad’? *) D060" 6) From 2), ay = (045)(16) =7.2 ms? 720m 0" © 84 = a + (aon), + (aco), = [2 + ] + [9a > 60°] +[(3)(0") = 20°] =[r2—~]+ [laa > oor]+fo] ay = 124m? |PROBLEM 15.107 ‘The acceleration of point C is 27 mis downward and the angular acceleration of the beam is 0.8 rad’ clockwise. Knowing thatthe angular ‘velocity of the heam is zero at the instant considered, determine the acceleration ofeach cable, SOLUTION o-0 a=08mds?) c= 20 mist Acceleration of =[27ms?| ]+[ucnt | =[:27 ms? | ] + [0.25 m)(oa eats!)t ] =2.67 ms? a,=287mis?] € Acceleration of =[27m#} ]+[BOat | =[27 m#] ]+[essy8yt 71 mvs} ay= Tims}PROBLEM 15.110 [At the instant shown, the angular velocity of the wheel is 2 ras clockwise and its angular acceleration is 3 rad/s" counterclockwise Knowing that the wheel rolls witout slipping, detennine the location of ‘on the point om the wheel with zero acceleration a this instant. SOLUTION Lt point be the contact point vo=0 (ac) = @=0), a=a) Wo TNe + Noe = 0+ ho > = Mo Point O moves paralel to. axis, 10 (0), + (20), [lec), ~ ]+[lec), 1] = [ao > J+ le J +[o0? 1] 0+[(ec), | ]= [ao J+ oa ]+[o0? |] From s-component, tg =Hle, ay =e — Acceleration of the point with coordinates (x,y): o+ [we t]+[@ — ]+[x0? — ]+[ro? | ] = [to — ]+ [se f J+ [per — J+ [x0 — ]+[yo* | ] Set a =0 and resolve into components. wis (b+ y)a+s0? =0 a xa yo! =0 ° From ( From (1), (re s)as o Data = 1008 mPROBLEM 15.112 “The 360-mm-radius flywheel is rigidly attached to a 30mm-radius shaft that can roll along parallel rails. Knowing that atthe instant shown, the center of, the shat has a velocity of 24 mmis and an acceleration of 10 mms?, both directed down to the left, determine the acceleration (a) of point 4, (6) of point B. SOLUTION ‘Shatt Velocity analysis: [Let point G be the center of the shaft and point C be the point of contact with the rails, Point C is the instantancous center of the wheel and shaft since that point c does not slip on the rails. vor = "HB -o8rats)) 30 “Acceleration analysis: Since the shaft does not slip on the mals, ag =a Nh 20° Ako, ag =[10 mi? > 20°] tc =A +(te0), (te, [ac \ 20°] = 10 man's? 7 20°] + [0ee <& 20°] + [300 ‘I 20°] Components 20% 10=-300, 2038338 ade? ) (a) Acceleration of point 84 = 80 +(40), + (40) = [10> 20°] + [3600 — ]+ [36007 | ] = [9.969 — ]+[3.a202 | J+ [120 —]+[2304 |] = [129.3969 ~— ] + [233.4202 | ] 267 mos? 7 61.0° € () Aceoleration of poiat 2: a5 = a6 + (ano), +(Ae0), = [10 7 20°] + [3600 — ]+[3600* | ] = [9.3969 — ]-+ [saz02 |] + [120 — ] + [2308 }] = [106031 —~ ] + [2269798 |] 252 mm 6.0" €PROBLEM 15.119 Knowing that crank 4B rotates about point 4 with a constant angular \elocity of 900 rpm clockwise, determine the acceleration of the piston P ‘A when 8 = 60°, \ A ‘SOLUTION Law of Sines: SnB S06 16.79" ‘Velocity analysis: yy = 900 pm = 307 rads.) Vg = 0810 gy = 1.53 mis ~S 60" vo= "|, @x =m >) van #132093 B p= Yet Yow Ivo |] [S345 0] [15209 2 Bi] Components t: 0 =1.53R60s60°= 1520p e058 Op = Y= 16.5 mds) Acceleration analysis: ay = O5Sloy = (051)(307)" =453 mis? > 30° a= 40|. wo =A ) Ape = [15249 << B}+ [152050 KB] = [52a << B]+ [4138 B] )) Resolve into components Hes 02 = 4530530 + 152,908 8 + 41.388in 8 613.67 rads? 453sin30° —(.152)(2613.67)sin B + 41.38c08 Bb S14 ms? isiami? | 4PROBLEM 15.120 Knowing that erank 4 rotates about point 4 with a constant angular ‘velocity of 900 rpm clockwise, determine the acceleration ofthe piston P shen @ = 1202 ‘SOLUTION Law ofS . B=16.79° > ) Velocity analysis: 100 pm = 208 rads) vg =05leDyy = 1.538 ns F 60° vo= |, m= em ) Vane = 1520 yy B ei vp =a +Vor [vo | J=[. 538 2 60°]+ [1520 * B] i Components +: 0 = =1.S3Rco860 +1520, cos an gy = LSSECOSO? 16.5 rads) : 4 Isde0s 8 ? Accoleration analysis ay =0 ay =.0510%, = (051)(302) = 453 m/s? S. 30° an =apl. Sa = Men ) Ang = [1S2etqy 2 B] + [15205 8) = [1S2e) 2 B]+ [41.38 hp] y= Ay +Auy Resolve ino components 4.1 0 =—45300530° +.1520%_p cos B + 41.38c08 8 Gq = 2613.67 rad/s? |) +f ap = 453530 + (152)(2613.67}sn ~ 41380088 = 301.56 mis? ay = 301.56 mis? |PROBLEM 15.123 Collar D slides on a fixed vertical rod. Knowing that the disk has a constant angular velocity of 15 rad/s clockwise, determine the angular acceleration of bar BD and the acceleration of collar D- when (a) 8 =0, (0) @ = 90°, (c) @ ~ 180°. SOLUTION Disk oy = 1S ads ), ay =0, 4B = 071m (4B)04 = (071) (05) = 1.068 mvs ag = (AB) = (071)(15) = 15.975 vs? 1.065 mis —=, », om snp = 97 pa 1626 at PF Instantaneous center of bar BD lies at point C SS, = 4.307 ad's ) 75 mis? |, ap 10 |. Sto = Oxo) ann = [(08}eqp 8] +[(08) 0% 8] = [254aryp > B]+ [484 YB] 1p App Resolve into components A: 0=0-(254c05B)tgy + 1.385, diy, =~ 5.5569 rads? +f: ay = 15975 ~ (254m (5.8568) — 465 = 1092 me typ =555 ati? ), ay =1092 is? |PROBLEM 15.123 CONTINUED (b) 8 = 90°. alee (irre et sinB =, p= 34056" lnstantancous center of bar BD les at Op =0 ap = 15975 mi? —, ay say] [(28)ey) %8]+[(08)0%, 6] = 25405 SB Ay =Ay+Aye Resolve into components, “et O== 18975 ~(254c08f)aqp. yy = 75.9 mals? +f: ap =0-+0=(254)(-759)sinB, ap = 10:79 ns? aie ReeaAA). ac alta [4 © = 180" vy = 1065 mis —, sing = ST p= 1626° Instantaneous center of bar BD lies at point C, y 106s 5 a Cimgel = 4.367 ads 10 ~ BD cosB ~ Aces ° ayciss7sm? t, apsapt ane = [(BD)aigy 8 ]+[(#D)on YB) = [254e0 > 8] +[484 4 8] p= 4485 Resolve into components. Bes 0 ==.2840%5p008B +1355, Giyy = 5.5869 rads? ats ay =15.975-+ (254)(5.5569)sin B + 4.65 = 21.02 mis? Oy =a?) ay =2102m62 |‘pry _g PROBLEM 15.150 Lape Pin P is attached to the whee! shown and slides in a slot cut in bar BD). ‘The whee rolls to the right without sipping with a constant angular EH, locity of 20 rads. Knowing that x= 61 em hen = 0, determine the =4e— angular velocity ofthe bar and the relive velocity of pin P with respext y tothe rod for the given data, (a) @ = 0, (b) 8 = 90°. SOLUTION ‘| ° Cc Coordinates: salah trOver se=Oye=r Xe =p Ne =O sp oy tesind Year tect Data (s4), = 61m r= 254m = 178m Velocity analysis Oc = Oe )s Oy = Opp )s Vea Vat Vn = [Oc — ]+ [eee S 8] vp = bo | J+ [lee056)60— — | Vono= LweosB —~) + [usin B f) Use vp = ¥p + Ypapand resolve imo components, tes (rt ecosO aye (ec0s0)edyy + (cos Ba o +{ (esin®)oxe = XHOm —~(sin Yn ®PROBLEM 15.150 CONTINUED (a) 0=0, t= 61m, x= 6m, Oe =20nd's 0088 IT gage np = oe Gr B= 1626 Substituting ito Eqs (1) and 2), (254+.178)(20) = 17800pp + (cos16.26°}r wo 0 = 6ledgp ~(sin1626°)u o Solving imultancously, mp = 381 nds) 4 Vpn = 83 mis 2 16.26° 6) 0 = 90" ae Substituting into Eqs. (1) and (2), (284)(20) o O8 mis (178)(20) = 1.18055, 2 Oy = Srads, yp = 300 rads) Von =5.08 mis —-Feces > PROBLEM 15.151 4 Pin P is attached to the wheel shown and slides in slot cut in bar BD. ‘The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that v= 61 em when 6 = 0, determine the angular velocity of the bar and the relative velocity of pin P with respect wT tothe rod for the given data, 6 = 30°. SOLUTION Coordin: i= (ahem io reeas® aia (a= 1m r=254m c=78m Velocity nays 4 = 4c): up = mp) vp vat Yaa = [Oc — ]+ [ease 5 6] = [say | ]+[e00s® Oy, Yonn =[uc0sB | —+ +[usin Bf) Use vp = Vp + ¥np and resolve into components, tes (r+eeos@)one = (ec0s6)aygy + (cos Bu o + [2 (esin®)eyge = xp ~ (sin) @PROBLEM 15.151 CONTINUED sae, apa sues) re ano'= hm 30° 178.6% tan =SB= 108° Substituting into Eqs. (1) and (2), (254+ .178e0s30"}(20) = (178 c0s30°} opp + (cos10.5°)u ny (178 sin30°)(20) = 83e2g9 ~(sin10.5°)or e Solving simultaneously, Oy =382 ds) u=77 mis Tos 2 10409b PROBLEM 15.160 in P is attached to the collar shown; the motion af the pin is guided by a sot cut in bar BD and by the collar that slides on rod AE. Rod AE rotates with a constant angular velocity of 6 rads clockwise and the distance ‘rom A to P increases a a constant rate of 24 m/s, Determine at the instant shown (a) the angular aceeleration of bar BD, (b) the relative acceleration ‘of pin P with respect to bar BD. ‘SOLUTION AP = 406m, BP = 406.42 m=.564m_ Given: Gy =6radls ), Oe =O, Vee 24m faye = Find: > and App ‘Velocity of coinciding point Pon vod AE: vy = (AP) oq = (406)(6) = 24 mis + = (24 ms)h Velocity of P relative to rod AE: Vue = 24 mls} Velocity of point P: p= Vy + Vnag = (24 s)i + (24 mls)h ‘Velocity of coinciding point P* on rod BD: pe = (BD)Oyy 48° = SMTidyy S AS° =~ M6 epi + 4060 y35 Velocity of P relative to 0d BD: Vinay = (cos5°)ud + ind") Velocity of point P: p= Vert Van Vp =~ ADO y i + 40600 yp 5 +(c0545°)u + (sin 5°) Equating the two expressions for ¥p and resolving into components. fs 2A= = 40600yp + (cos45°)r 0 js 24 = .40600q5 + (sin d3°)u @ Solving (1) and 2), Om U=34 MS Vpgp = 24 mish +(2.4 mis)h Acceleration of coinciding point Pon rod AE: aye = (AP tial ~ (AP) = 0 (400)(6)° -(i.6ms)iPROBLEM 15.160 CONTINUED Acceleration of P relative to rod AE: Aran =0 Coriolis acceleration: 2}(-6) «2.45 = (288 mis?) Acceleration of point P: ap = ap aye +24 pag = OBS} (46 me?) j Acceleration of coinciding point P” on rod BD: ap = eayk tng ~ Opting =~ M06 gah + AO6 C9) + 0 Acceleration of P relative to rod BD: Apso [cosS")a,i + (sin48")a,5 Coriolis acceleration 20045 *V pan = 0 Acceleration of point P: Ap = Ape + Amar + 2Oan *Vnan =~ 46 ctgp i + 406 yp} + (cos4S*)a,i + (sin45°) a, Equating the two expressions for ay and resolving into components. 1 288 =~ 4064p + (c0s45°)a, % fe 146 = 4060%p + (sindS")a, ® Solving (3) and (4), Gy =—S4ad's, 4, = mis? @ typ = S4radis? ) o Apyy = Wms? 2 45°PROBLEM 15.161 Pin P is attached w the collar shown; the motion of the pin is guided by @ slot eut in bar BD and by the collar that slides on rod AE. Bar BD rotates ‘with @ constant angular velocity of 6 rad/s counterclockwise and the distance from # to P decreases ai constant rate of 3.2 mvs, Determine at ‘the instant shown (a) the angular acceleration of rod AE, (b) the relative acceleration of pin P with respect to od AE. ‘SOLUTION AP = 406m, sp = 4063 m=.564m Given: xp = 61h), yp =O, Vpgy = 3.2 018 745%, Ap Fin: aaa lene ‘Nelocity of coinciding point P” on rod AE: ve = (AP Oy, = A060 — == 4060241 Velocity of P relative to rod AE: Yam = etocty of point P Vp = Ve + Vas =~ 406 gh + Hf ‘Velocity of coinciding point P” on rod BD: Vp = (BP) yy S. 45° = (S74V2)(6) S45" (2.4 msi + (2.4 mvs)j Velocity of P relative to rod BD: Yoao = (2.26 ms} ~ (2.26 mvs)j Velocity of point P: Vp = Vp + Vinay = (4.66 mis)i + (14 ms)j Lquating the to exrenions for vp and mealving into component k= A060 == 4.66, ogg =115 cals) bows, Vas Acceleration of coinciding point P’ on tod AE: ay = huk Xt ~ Ot, =~ 4060441 ~ 53.7)PROBLEM 15.161 CONTINUED Acceleration of P relative to rod AE: anus Coriolis aceeleration: 200g XV page = -(2)(01.5)(14)t = -(3.22 mis") Acceleration of point P: ap = ap + anus +2042 *V pe ap =~ M06 cgi + 4+ (3.228) ~33.75 Acceleration of coinciding point P* on rod BD: ay = gh tpg ~ ety = 0-(6F (4064+ 406)) = (146 msi ~ (146 m6?) Acceleration of Pelative to rod BD: pao =0 Coriolis acceleration: 20pp¥ nav = (2)(6)(3-2) = 384 S45" = (27.15 mis?) - 71S mie?) Acceleration of point P: Ap = ap + bp ge + 2Og¥ a9 = (12.55 mis?) ~ (41.75 mis?) 14.61 14.6) + 27.159 — 27.155 [Equating the two expressions a and resolving into components i: = 406044 ~ 3.22 = 1255, Og = Sead? Eo 4,-337=-41 1195 ms? @ Gye = 38,8 radis® ) o tres tamstPROBLEM 15.171 ‘The collar P slides outward at a constant relative speed 1 along rod AB, Which rotates counterclockwise with a constant angular velocity. of 20 spm. Knowing that r= 25.4 em when @= 0 and thatthe collar reaches B when @=90°, determine the magnitude of the acceleration of the collar P just as it reaches B. SOLUTION = 202 0 apm = CIE = radians Uniform rotational motion: Uniform motion along rod: 254 075 Acceleration of coincing point P* of the rd: aya rat son(*2} 2002 at | ar25 mi! | Acceleration of collar P relative tothe rod Coriolis acceleration: 20% V yay = 2000 Acouleration of collar P Bp = ap + Aap + 2OXV pay [aazsme? | ]+ [14 et —] 2.63 mis? 7 $7.5° 2.63 mis? 575° 7PROBLEM 15.174 Pin P is attached to the wheel shown and slides in slot cut in bar BD. ‘The wheel rolls to the right without slipping with a constant angular velocity of 20 rad/s. Knowing that x = 61 em when @ = 0, determine SOLUTION Coontinates: (x4), +18, Sp = ny tesind, yp =rtecose Data (a = 61m ‘SA m 178m xp = 61m Velocity analysis; % ss). ©y =m) vp = (r+ eleye = (254+.179)(20) = 8.64mi ve = [100 | |+ [em — | ve = [usm — | losin] vs hs 2s (B= 16.260? bets uv Yas oo cs sar Aes 864= 178cag + ne0s8 o e|: 0= 610q9 using 2 Solving (I) and@2),—@yy =38 ads, w= 8.3 misPROBLEM 15.174 CONTINUED ‘Acceleration analysis: Bic=% Oxy = Apo .) 4, £0, pg = rig = (178)(20)? = 71.2 mie? | ap Hay tap, = 72m | av = [tte | ]+ [eon —+ ]+ [seo — ]+[eoko | ] = [61am | ]+[178a90 — ]+[lons) — J +[l178)6.8)'| ] = [olan | ]+ [1784 — ]+[88ms? - ] +[2.57 ms? | ] Ang = ficosB — ]+[asing | ] Coriolis acceleration: ops = (2)(58)(83) = [65.08 ms?) B] Use ap = aye ayy +[20,y1 \ B] and resolve into components “Aus O= ATRayy ~ 88-4 cos + 63.085in 8 or 178 cigy + sions B = 8.8 @ +[: T1.2= Btgy +257 —risin +63.08c05 or 6lagy —ssinB = 8.1 ® Solving (and (4, Gp =83ndy i=-l067m+ @ yy =83rai'?) 4 ® app = 1067 mie 1626"PROBLEM 15.175 8 Pin P is attached to the wheel shown and slides in slot cut in bar BD. The wheel rolls to the right without slipping with a constant angular velocity of 20 rads Knowing that x = 24 in. witen @ = 0, determine (a) the angular acceleration ofthe bar (b) the relative acceleration of pin P with respect to the bar For the given data, @ = 90°, Coordinates xy tesin®, yp =r + ecos Data: 0-907 pe 61 (2805 }+(a79 = 118m, Velocity analysis c= Walls), Oy = yy) = [rue — JLo |] = [(254)(20) = ]+[(178)(20) |] = [5.08 mis — ]+[356 ms |] 1% | J= [48a |] var = —~ + Vp a eslve into components. tes $08 =, 08 mis 3S6=118@yy, yy = 3rad’s ) Acceleration analysis: yc =0, yy = Oy) a0 an (178)(20f = 712m? « ap = y+ aqy = T2mistPROBLEM 15.175 CONTINUED ay = [seen | ]+[seoin — ]=[1-180%0 | ]+[0.18)07" — ] = [sey | ]+[10.62 met — ] Covi acceleration pt = (2935.08) =30.48 ms | Use ap = ay + app +2cgu | and resolve into components. Ss 1122-10624 = 60.58 ms, tk 0-118 +3048, yp =-258 mas? 258 ads?) 4 @ o App = 60.58 mis? App T6058 mis? —PROBLEM 15.176 ‘The disk shown rotates with a constant clockwise angular velocity of 12 rads. At the instant shown, determine (a) the angular velocity” and angular aeceleration of rod BD, (6) the velocity and aeceleration of the point ofthe rad coinciding with E. ‘SOLUTION oom wn = 277, B= 26.565° Geometry: tn = SET, B= 26565 254 Ing = 254 2 284.m eo Velocity anaiysis: ogy =12 ds), mp = op) Vp =(AB)e%q9 = (127)(12) = 1.5 mis | Vat (BE) > B =[LS} ]+[2840—0 > 6] Yor =["h Bl ve =0 Use Ve = Ye + Yuan and resolve into components $B: O==1Ssin +2845, yp = 2.400 ad's SN Bi 0= 150088 —u v= L34mis ver=[15} ]+[(284)(2400) > p]=134mis S 63.4" Acceleration analysis: a, = (AB)o3, = (127)(127 = 18.3 mis? ap = ay + (BE) > B]+[(BE)o% NB] = [183 ]+ [284045 > B]+[16 NB] gw = [ENB]. a=0 Coos acceteraton: 2o,p1 = (2)(2.400)(.34) = [64 > B]PROBLEM 15.176 CONTINUED Use Me = 8 + Apap + [20% 7 i] and resolve into components. +277 B: 0=-18.3c0sf + 2840iyp + 64 Oyy = 35 rads? Is.3sinB +16 —%, i =—6S8mis? +N B= ag = [183 — ]+[ (28985) > B]+[16\ 5] = [183 — ]+[29 > B]+ [16 NB] = 9.24 mie S189" Summary Op = 240 0d), digp = 35nds?) o 34 mis D634", Da mis? 189°t {PROBLEM 15.177 Collar B slides along rod AC and is attached to block that moves in a vertical slot. Knowing that R= 45.7 em, @ = 30°, @ = 6 radi and ar= 4 radi, determine the velocity and acceleration of collar B. ‘SOLUTION 437 Geomet = 457m, 0 = 30", = = 521m jcometty R O80, AB = Pin B: v at Let rod AC be a rotating frame of reference. @ Fonds, @=4 rads ve =(40)o = [5270 \4 30°] = [sera 30°] + [se 20°] Motion of B relative to the frame: veuc = [0 230°), pyc = [it 30°] w= Grads Velocity analysis: vy = Yet Ypc va te $2704 30°] +[u 2 30°] ~(527)(6)sin30° + noos30 v= 18m +f) vy = (527)(6)e0830° + 1:88in30" mis vp =36mis | Coriolis acceleration: 2ow = (2}(6)(18 21.6 mis? \| 30°] Acceleration analysis: ag = ay +Ayye +[200 \) 30°) [ay f = [8270 Nf 30°] +5270? 2 30°] + [i 30°] + [21.6 \| 30°] = [2.1 30°] +[1897 >” 30° + [i 30°] + [21.6 \ 30°] = [237 \ 0°] [1897 7 305] + [a 30°]PROBLEM 15.177 CONTINUED 28.Tsin30® — 18.97C0530° + ireos30° i =326me =f: ay = 23-7e0s30° - 18.975in30° + 32.6sin30° =273 mitPROBLEM 15.178 ‘The Geneva mechanism shown is used to provide an intermittent rotary ‘motion of disk S. Disk D rotates with a constant counterclockwise angula velocity @p oF 8 rads. A pin P is attached to disk D and can slide in one of six equally spaced slots cut in disk S. It is desirable thatthe angular velocity of disk S be zero as the pin enters and leaves each of the six slots; this will occur if the distance between the centers of the disks and the radii ofthe disks are related as shown, Determine the angular velocity ‘and angular acceleration of disk S atthe instant when @ = 150" ‘SOLUTION ot Let disk Se a rotating frame of referenes. Geometry e Law of Cosines 1 = 0322 +064? ~(2)(.032)(.064)e0s30° em i Law of Sines: Motion of coinciding point P’on the disk: =r, = 405 KB ay = Gk Xtp9 ~ Oty = [4as N B1+[40} > B) Motion relative tothe frame: vos =" 7B, ans = > B Coriolis accoleration: Zou NB ve =e ¥ns = L405 B+ Le BI ap = ap taps #200 ash B]+ [408 > B]+[d > ]+[2ou NB] ‘Motion of disk D: (Rotation about 8) Vp = (BP)ayy = (032)(8) =.256 ms > 30° ap =[(aP)ay > 60°] +[(aP)o3 < 30°] =0 + [cosy ~ 30] = 2.05 mis? 30°PROBLEM 15.178 CONTINUED quate the two expressions for vp and resolve into components. A.B: des = .286c08(30° + B) = 256e0823.6° _ 7 38radis 4 FB: = 286sin(30° + B) = 256sinS3.6°= 206 mis quate the two expressions fora and resolve nto components. KBs As —20gu = 2.05sin(30° + 8) _205sin53.6° + (2)(38)(206) 4 45 mais? a, = 38mdis) a, =45ads?)PROBLEM 15.179 In Prob. 15,178, determine the angular velocity and angular acceleration of disk Sat the instant when @ = 135° Problem 15.178: The Geneva mechanism shown is used to provide an intermittent rotary motion of disk S. Disk D rotates with a constant counterclockwise angular velocity @p oF 8 rad/s. A pin Pi attached to disk D and can slide in one of six equally spaced slots cut in disk S. Its dlsirable that the angular velocity of disks be zero asthe pin enters and leaves each of the six slots; this will occur if the distance between the centers of the disks and the radii of the disks are related as shown Determine the angular velocity and angular acceleration of disk Sat the instant when @ = 150°, SOLUTION Geometry Law of Cosines: 1 = 082 + 0642 ~(2)(032)(64)cos45° 1.046 Law of Sins: mae IE paws Let disk Sbe a rotating frame of reference. Q=0, ), Q=a;) Motion of eoinidng point Pontes vy = rs = M4605 § B ty =k xt no = [Gas NB] +[0H6a > B] Motion elatve tthe fame: vos =u 7B. aps = B Coriolis acceleration: 2engu S| B spate thins = Loos NB] +Lo = Bi Ap = Ap + ps + 20g NY = [46a ) B]+ [04603 > B]+ [i > ]+ Pou \ B] Motion of disk D: (Rotation about B) Vp = (BP}oy = (032)(8} 256 mis > 30° = [(eP)ay 45°] +[(er)o} << 4s"]=0+ {¢ ox2\(s) 45°] = 2.05 mis? 4s?PROBLEM 15.179 CONTINUED quate the two expressions for vp and resolve into components iB: 04600, = 25600s(45° + B) 286c0874.5° 046 LAST mad's a, = 1487 als) 4 PBs w= 256sin(A5° + B) = 256sin74.5° = 25 ms Equate the ovo expressions for ap and resolve 1o components. KB: 46a - 2egu = 2,05sin(45° + B) _205sin74.5° + (2)(1.487)(25) He = 59 radis? Os = S9radis? ))PROBLEM 15.180 In Prob. 15.149, determi the acceleration of pin P. Problem 15.149: The motion of pin P is guided by slots eut in rods AE and BD. Knoving dhat the rods rotate with the constant angular velocities @, ~ 4radis clockwise and @y ~ 5 rad/s clockwise, determine the veloct ‘of pin P for the position shown, SOLUTION ie oo Geometry: @ = 30° BP 250tan30° = 144.34 mm Velocity analysis: @, mis), @y=Srads ) ‘Se Solution of Problem 15.149, which obtains (66.67 mm/s 30° 16.67 man’s “Acceleration analysis: goo Rod AE: Let * be the point on rod AE coinciding with the pin P. (ar), (AP), =0 (ay7),= (AP) e04= (288.68)(4)'= 4618.9 mms? ap = 4618.9 mays? 30° Age Seige 30 Coriolis acceleration: (a,)¢= 20,¥ pe = (2)(4)(166.67) = 1333.3 mmis? (4) = 13333 mm’s? 60° p= y+ ae (Oye = [4618.9 mis? 30°] + [ap gg EMP] +1508. m2?PROBLEM 15.180 CONTINUED Roa BD: Let P* be the point on rod BD coinciding withthe pin P. (apr), = (BP ety (apr), = (BP )o (4p-)= 3608.5 mas?} Coriolis acceleration. (2, )yy=20%Vinao (2)(5)(916.67) = 9166.7 mms? (8, )yy = 9166.7 mans? ~ ap=ay + apm + (8 ap = [5608.51 ]+[opan} ]+[9166.7 mms? — ] quate the two expressions for a and resolve into components. ~4618.9¢0830°+ pgp COS30"+ 1333.3c0860" = 040-9166. pg ~6735.7 mmis?,——yygp = 6735.7 mais? 30° A 61: 04.0.4 1333.3 = 3608. Ssin 60° pgp Sin60"~ 9166.7 c0s60" ipgo= BUA mvs, pg = 32234 ms} Using ap from rod AE. p= 4618.9 7.30°4 6735.72.30°4 1333.3 £60° = [166.7 mms? — ]+[ss2.0mms?} | Check using Ap from ro BD. ay= [360851 ]+[3223.41 ]+[9166.7-— ] = [9166.7 mms? — J+ [6019 mm’ | p= 11430 ais? 367° aps11A0 me? 36.7¥ PROBLEM 15.184 ‘The L-shaped arm BCD rotates about the = axis with a constant angular velocity @of 5 rad/s. Knowing thatthe 19.|-em-radius disk rotates about BC with a constant angular velocity @, of 4 rad’, determine the angular acceleration of the disk. SOLUTION Total angular velocity = @)+0k @= (4 mds)j +(5 ads) Angular acceleration: Frame Ou: is oiating with angular velocity 2 = ek 0-6-0). +2%0 = 04a kx (oj +k) =-oos a =~(5)(4)i = 201 20.0 as")PROBLEM 15.190 A gun barrel of length OP =3.7 m is mounted on a turret as shown. To keep the gun aimed at a moving target the azimuth angle Bis increased at the rate «/B/dt = 30° and the elevation angle is being incrsased at the rate «7dr =10°%, For the position B =90° and 10%, determine (a) the angular velocity of the bare, (6) the angular acceleration of the barrel, (c) the velocity and aceeleration of point P. SOLUTION Let (a) Angular velocity @ = ~ (0.1745 rad/s)i ~ (0.524 rads) j (0) Angular acceleration Frame Oi rotting with angubr velocity © = @, B= O= @,. +AXD =0+ax(@+O)=O xO, -(4i}- (6) Velocity and acceleration of point P: = (0091482) For = 90° and 7 = 30%, tp = (3.7 (sin 30°} + 60530") iets rrroel(i) 8) ° © 37sin30° 3.7e0s30°| = = L675i +5884) ~.3228K vp =~(1.678 mist + (5884 ms) ~ (3228 mis)k PROBLEM 15.190 CONTINUED. Ay = OXty FOXY, ECCS - ax(.85j+ 324) + (3) 3) ° “1675 3584-3228 1691 + 0] + 1691 ~ 056] -.9743k 338 ms?) ~(0s6ms")j~ (9743 ms)PROBLEM 15.193 ‘The cone shown rolls on the = plane with its apex at the origin of coordinates. Denoting by @ the constant angular velocity of the axis OB fof the cone about the y-axis, determine (a) the rate of spin of the cone {about the axis OB, (0) the total angular velocity of the cone, (c) the angular acceleration ofthe cone. ‘SOLUTION Since the cone rolls on the x: plane, Wav = ‘The instantaneous axis of rotation lies along the ‘Total angular velocity: @- 64 {) Rate of spin (cos + sin) iF pe i = (09, cos Bi + (co, sin B)j + OF Components: bk 0=@,sin fi +09, i: @=acosp =- 22% () Angular velocity (6) Angularacesleration: The vector @ rotates about the y-axis ata rate Q=aj a-ax0-a5{ oi)